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Soft actuators that execute diverse motions have recently been proposed to improve the usability of soft robots. Nature-inspired actuators, in particular, are emerging as a means of accomplishing efficient motions based on the flexibility of natural creatures. In this research, we present an actuator capable of executing multi-degree-of-freedom motions that mimics the movement of an elephant’s trunk. Shape memory alloys (SMAs) that actively react to external stimuli were integrated into actuators constructed of soft polymers to imitate the flexible body and muscles of an elephant’s trunk. The amount of electrical current provided to each SMA was adjusted for each channel to achieve the curving motion of the elephant’s trunk, and the deformation characteristics were observed by varying the quantity of current supplied to each SMA. It was feasible to stably lift and lower a cup filled with water by using the operation of wrapping and lifting objects, as well as effectively performing the lifting task of surrounding household items of varying weights and forms. The designed actuator is a soft gripper that incorporates a flexible polymer and an SMA to imitate the flexible and efficient gripping action of an elephant trunk, and its fundamental technology is expected to be used as a safety-enhancing gripper that requires environmental adaptation.

Artificial muscle is one of the more prominent topics in modern robotics as it can be applied to robotic arms, electric vehicles and wearable robots (Shahinpoor et al. in Smart Mater Struct 7:15–30, 1998; Jani et al. in Mater Des 56:1078–1113, 2014). The advantages of Shape Memory Alloy (SMA) artificial muscle are lightness and high energy density. The high energy density allows the actuator to make powerful motions. Meanwhile, SMA wire contracts 6% of its length, which means that the required displacement cannot be achieved by a simple connection. To resolve these disadvantages, the SMA wires are coiled in a diamond-shaped structure. If the electric current is given by contracting wires in the longitudinal direction, the actuator can exert force and displacement in the diagonal direction. As the crossed tendon finds its minimal length when actuated, the rotation angle converges to 90°. Parameters related with the rotating motion were selected, such as SMA wires’ diameter and length, distance between the crossed part and elbow part, size of the diamond-shaped structure, friction, etc. To determine the maximum force of the actuator, a graphical method was used, which is similar to the yield strength determination (0.2% offset). Because the robotic elbow joint is connected by the tendon, the connections between links are flexible, and without motor it does not generate any sound or noise during operation. The robotic elbow joint using the SMA actuator is designed and analyzed, which can rotate 86.7° and generates maximum 56.3 N force.

Steering feel delivers torque feedback from the steering wheel of a vehicle to the driver and plays a critical role in communicating useful information related to road and vehicle dynamics. The steering feel of a conventional vehicle is generally evaluated using on-center handling, which is the steering behavior at high speed and a low lateral acceleration boundary. The hysteresis curve is the most widely used method used to observe the characteristic of on-center handling steering feel. The majority of previous research related to hysteresis curves focused on developing an efficient method to test and determine a meaningful index from the hysteresis curve when there is already a well-designed system controller. However, the mathematical relationship between the hysteresis curve and steering system has not been adequately studied. This paper analyzes the hysteresis curve based on the electric power steering model. The shape of the hysteresis curve is characterized by a transfer function consisting of the system and a controller parameter in the frequency domain. The theoretical analysis is verified by simulation results.

Beyond conventional military products, technologies in the defense industry sectors around the globe are integrated and fused with newly emerging technologies such as three-dimensional printing (3DP) and smart material fabrication. Acknowledging these trends, this study proposes a miniature high-speed actuator whose fabrication process entails 3DP, smart materials, and shape memory alloy. The manufactured actuator is 25 mm long and 5 mm wide in and weighs 2.5 g, having the optimal frequency in the range of 35-40 Hz. Force and deformation measurement were also conducted, resulting in the lift force of 0.18 N per second with a bending deformation of 5 mm.

Most existing approaches to developing robotic manipulators or artificial hands have used rigid components, with joints, linkages, gears, and motors. Rigid robotic systems can perform tasks with precise and articulated motion, but require complex integrated feedback-based control systems. Soft robotics is an emerging research field that uses deformable materials to build systems that are compliant and adaptable via simple integrated mechanisms, enabling biomimetic behavior with compact systems. Here, we report a novel tendon-driven bending actuator using smart soft composite (SSC) and shape memory alloy (SMA). First, an artificial finger was designed based on a SMA wire and a sliding mechanism, which mimics flexion of the human hand. This artificial finger has a soft hinge structure to enable the bending motion of the actuator. Experiments were conducted to evaluate the bending and load resistance of the artificial finger, and an optimal material composition was identified. The bending performance of the actuator was measured with various numbers of glass fiber sheets, and two-layered actuator showed the best performance in terms of the trade-off relationship between the bending capacity and the load holding capacity – bending angle of 305° with weight of 20 g and bending angle of 61° with weight of 60 g. Finally, a prototype robotic hand was then developed using four tendon-driven SSC fingers and a thumb, and grasping capabilities were demonstrated with various objects with diverse shapes.

This work introduces the design of a smart soft composite (SSC) hinge actuator capable of a pure bending motion concentrated on specific sections of the actuator. This actuator makes use of a shape memory alloy (SMA) wire in a polydimethylsiloxane (PDMS) matrix embedded with segmented rigid components. The bending deformation was accomplished by actuating the SMA wire embedded along the length of the matrix eccentrically from neutral surface. This study introduces the design and manufacturing method of the actuator and experimental results for the maximum bending curvature for different configurations of the actuator. A model was presented to calculate the maximum bending curvature and validated against the experimental data. Results show that a smaller flexible length ratio is better for obtaining a larger maximum bending curvature, and that for an actuator containing multiple hinges, the total length of the hinges is more important than the number of hinges in the actuator. Finally, a gripper consisting of three fingers was developed where each finger consists of a hinge actuator with two hinges. The fingers of the gripper have a working length of 90 mm and the gripper was evaluated by grabbing cylindrical objects with diameters ranging between 1 mm and 80 mm. Results show that the gripper has a good passively adaptive capability for grasping a large range of objects with different sizes by virtue of the properties of the hinge actuator. Afterwards, the pulling force through different grasps was tested and it was shown that the gripper is capable from transitioning directly from a power grasping to a fingertip grasp and that power grasping is better than the fingertip grasp.

Morphing technology is inspired by biological motion for implementation in missions in a variety of areas without shape-change device. This study investigates the aerodynamic performance of a self-contained morphing winglet for an unmanned aerial vehicle (UAV) that mimics the wing-tip feathers of gliding birds. A smart soft composite (SSC), formed of shape memory alloy (SMA) wires and glass fibers within a soft polymeric matrix, was used to fabricate morphing winglets. Experiments were conducted with various diameters and numbers of embedded SMA wires, and numbers of the glass-fiber fabric lamina, which were compared with an analytical model. Morphing winglets were implemented at both wing tips of a WASP 4/7-scale UAV, and the aerodynamic characteristics were investigated using a wind tunnel testing with various attack angles. As results, when the morphing winglet was actuated, the lift-to-drag ratio increased by 5.8% compared with the flat wing geometry for attack angle greater than 5°.

Tumor necrosis factor-α (TNF-α) plays an important role in inflammatory responses. Deregulated activation of TNF-α signaling is associated with various inflammatory diseases. In view of the finding that the seventy percent ethanol extract of Litsea japonica (LJE) interferes with TNF-α-induced NF-κB activation, activity- guided fractionation was performed to identify the active components of the extract. The EtOAc, CH2Cl2 and n-Hexane fractions of LJE induced suppression of inhibitor of κB (IκB) kinase (IKK), p38 mitogen-activated protein kinase (MAPK) and c-Jun N-terminal kinase (JNK), and significant reduction of TNF-α- induced NF-κB activation. From the CH2Cl2 fraction, hamabiwalactone A, hamabiwalactone B, litsenolide B2 and litsenolide C2 were identified to inhibit TNF- α-induced NF-κB activation. The cytotoxic activities of these lactone compounds were additionally evaluated.

The design of SMA-based soft actuators is often limited by the design of the molds used, and these limitations are even more pronounced for actuators with complex shape memory alloy (SMA) wire positioning such as SMA-based twisting soft actuators. This paper aims at developing new mold designs to enable new design possibilities for the fabrication of pure-twisting smart soft composite (SSC) actuators. The basic design of the actuator uses two SMA wires embedded in a polymeric matrix at opposite eccentricity and crossing the matrix in opposite directions. This positioning induces a twisting motion to the matrix during actuation, but current mold designs impose many limitations on the design of the actuator. In this work, two molds design strategies are proposed that enable three distinct approaches to improve the performance of this actuator: interference fit fastening molds and using intermediate elements to reorient the SMA wires. These solutions enable the design of I-shaped cross-sections, composite cross-sections and square-helix positioning of the SMA wires within the matrix. A base actuator size is used to compare the performance of the different strategies then three actuators using combined solutions are manufactured and tested. Results show that the improved mold design can significantly increase the performance of this type of actuator.

The design space for morphing wings is incredibly broad and allows for a wide range of improvements versus fixed wing aircrafts such that each type of morphing can be useful for different purposes. This work introduces a novel concept for a twist morphing wing segment where only a segment of the wing is actuated which causes a rotation of the tip of the wing while the base segment fixed. The morphing segment consists of a smart soft composite structure made from PDMS and PLA which is actuated by multiple embedded SMA wires. This structure was implemented in a UAV-sized wing and was tested both in still-air conditions and in an open-type wind tunnel to determine the actual impact of this mode of actuation. Results show that this concept can improve the aerodynamic properties of the wing, particularly at low angles of attack.

This paper introduces the design of a smart soft composite (SSC) actuator capable of multiple modes of actuation. This actuator combines four shape memory alloy (SMA) wires embedded in a soft matrix where one or two SMA wires can be activated to induce the actuator into either the bending mode, the twisting mode or the combined bending and twisting mode of actuation. Experimental results for actuators of different lengths were obtained for all modes of actuation and the actuator is capable of large deformations in all modes and directions of actuation. Then a simple FEA model was used to predict the range of deformation for different lengths in the different modes of actuation. This model is able to predict accurately the bending and twisting angles of the actuator for the different modes of actuation. The 120 mm actuator is capable of deformations up to approximately 160° in both the pure bending and pure twisting modes and of approximately 80° for both twisting and bending in the combined twisting and bending mode of actuation.

Natural creatures morph their soft skins to adapt to the surrounding environments. Such unique morphing could be of great utility when creating bio-inspired soft robots. Here, we design shape memory textiles that may be used to create soft morphing shells woven using various kinds of fibers, including shape memory alloy wires. We explore the effects of fiber configurations, textile orientations, and lamination numbers in terms of actuation behaviors (deflections and blocking forces). Finally, soft morphing shells prepared from multiple laminates of shape memory textiles were created to allow three-dimensional surface morphing using two-dimensional laminated composites.

A morphing flap is for changing the shape of wings continuously without any additional mechanical parts, which can reduce turbulence, aerodynamic drag, vibration, and noise versus the discontinuous geometry of ‘conventional’ flaps. Especially, smart materials based morphing technology can achieve various deformations without complex mechanical components, such as motors and joints. These characteristics are advantageous to reduce the operating cost of the aircraft through improvement of aerodynamic performance and weight saving. In this study, we designed a hybrid composite actuator capable of shape-retention, integrated with a shape memory polymer (SMP) scaffold and a shape memory alloy (SMA) wire. The hybrid composite actuator composed of SMP and SMA can maintain a deformed state without additional current to heat the SMA by using shape-memory effects of SMP. The measured maximum deformation angle of the actuator was 102° and the maintained angle was 70°. Then, the aerodynamic performance of the morphing flap was evaluated in wind-tunnel experiments. The morphing flap generated additional lift force during actuation and the lift-to-drag ratio of the morphing flap was higher than that of a conventional flap; the maximum difference was 81% at 10° of the angle of attack.

Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.

The roots of Pueraria mirifica were extracted with70% aqueous ethyl alcohol and partitioned into ethyl acetate(EtOAc), n-butyl alcohol (BuOH), and H 2 O fractions, successively.From the EtOAc fraction, four norsesquiterpenes were isolatedthrough the repeated silica gel, octadecyl silica gel and SephadexLH-20 column chromatographies. On the basis of physicochemicaland spectroscopic data including nuclear magnetic resonance(NMR), mass spectrometry, and infrared spectroscopy, thechemical structures were identified as megastigm-5-en-3,9-diol(1), linarionoside B (2), 3,5,6,9-tetrahydroxymegastigm-7-ene (3)and 3,4,9-trihydroxymegastigma-5,7-diene (4). Especially, theconfiguration of the anomer hydroxyl group was determined as âfrom the coupling constants of the anomer proton (J =8.0Hz) inthe 1 H-NMR spectrum. These compounds were isolated for thefirst time from the roots of P. mirifica in this study.Keywords 3,4,9-trihydroxy-megastigma-5,7-diene · 3,5,6,9-tetrahydroxy megastigm-7-ene · linarionoside B · megastigm-5-en-3,9-diol · norsesquiterpene · Pueraria mirifica · White Kwao Krua서론태국에서 예로부터 약용으로 이용되는 칡(Kwao Krua)으로는 RedKwao Krua (Butea superba), Black Kwao Krua (Mucunacollettii) 및 White Kwao Krua (Pueraria mirifica)가 가장 많이 알려져 있다. P. mirifica는 갱년기여성에 대하여 에스트로겐대체요법으로 사용되고 있으며, Red Kwao Krua (B. superba)와 Black Kwao Krua (M. collettii)는 남성의 성기능 증진 및발기부전 예방 및 치료에 사용되고있다(Suntara, 1931). 최근 위의 3종의 태국칡이 건강기능식품, 화장품 등의 제품으로 우리나라에 허가없이 수입, 유통되고 있다. 제품 중에는 그 효능에대해 허위, 과장되어 광고되거나 안전성이 확인되지 않은 성분이 혼입되어 안전사고 발생의 우려가 증가하고 있다. 따라서 태국칡의 유효성분에 대한 과학적 효능검증과 아울러 지표성분을확보함으로서 시료의 정확한 동정과 표준화된 원료의 규명연구가 시급한 실정이다.P. mirifica (White Kwao Krua)는of Korea 콩과(Favaceae) 칡속의 덩굴식물이며, 주로 태국 북부의 첸마이 지방에서 자생한다. 잎은손바닥 모양이며 잎자루에서 3개의 잎이 난다. 2−3월에는 푸른빛을 띄는 보라색의 꽃이This is an Open Access article distributed under the terms of the Creative 잔가지의 끝에 30개의 무리를 이루며피고, 4월에는 깍지 안에 3−5개의 씨가 생겨난다(Malaivijitnond,2012). P. mirifica로부터는 현재까지 daidzein, genistein, daidzin,genistin, puerarin, puerarin-6"-monoacetate, mirificin과 같은

The one-dimensional deformation of shape memory alloy (SMA) wires and springs can be implemented into different types of functional structures with three-dimensional deformations. These structures can be classified based on the type of structure and how the SMA element has been implemented into the following categories: rigid mechanical joints, semi-rigid flexural hinges, SMA elements externally attached to a soft structure, and embedded into the soft structure. These structures have a wide range of properties and implementation requirements, and they have been used to produce a variety of robots with rigid and soft motions. The different research efforts to develop actuators and robots related to each type of structure are presented along with their respective strengths and weaknesses. A model is then developed to discuss the performance and applicability of SMA wires versus SMA springs for actuators with a polymeric matrix to see the effect of each type of SMA on the selection of design parameters. A comparison of the different types of structures and the applicability of different types of SMA elements for different types of structures is then presented.

This article introduces a novel design for a soft morphing actuator capable of pure twisting motion through a pair of shape memory alloy wires embedded in a polydimethylsiloxane matrix at constant and opposite eccentricity across the cross section in opposite directions. This report introduces the design of the actuator, the manufacturing method, and experimental results for the twisting angle and twisting force when varying the dimensions of the matrix of the actuator. Afterward, a simple model is applied to verify the effect of matrix dimensions on the twisting angle of the actuator. The results show that there is an optimal actuator thickness for both the twisting angle and the twisting force of the actuator, that there is a trade-off between the twisting angle and the twisting force for the actuator’s thickness, and that a longer length is better for both metrics within the tested dimensions.

This paper introduces a novel geometry for a pure-twisting soft morphing actuator that improves the stability of the actuator and allows it to obtain a larger twisting angle. The smart soft composite (SSC) actuator uses pair of NiTi shape memory alloy (SMA) wires embedded in a cross-shaped polydimethylsiloxane (PDMS) matrix at constant and opposite eccentricity across the cross-section in opposite directions in order to produce a twisting motion. To evaluate the twisting performance of the cross-shaped actuator, specimens with rectangular cross-sections and cross-shaped cross-sections are made and their twist angles are measured and compared. Results show that the cross-shaped actuator is capable of a higher twisting rate by using a thinner flange due to a more stable twisting motion.

Nitrate is one of the major nutrients in plants, andnitrate fertilizer often overused for the high yields of crops. Nitratedeposit in soil became one of the major reasons causing salt stress.Specially, salt stress is a serious problem in the soils of plastic filmor glass houses. In this study, six microorganisms have beenisolated from the wet soils near the disposals of livestock farmsand their nitrate uptake activities were investigated. These bacteriawere able to remove nitrate as high as 1,000–3,000 ppm (10–50mM). The strain PCE3 showed the highest nitrate uptake activityand it removed more than 3,700 ppm. In order to identify thesebacteria, genes of 16S rRNA were sequenced and analyzed.Phylogenetic trees were constructed with the neighbor-joiningmethods. Among these bacteria, strain PCE3 was identified asBacillus species. When the growth and nitrate uptake activitieswere measured, both were maximal at 37 o C and optimal pH waspH 7–9. Bacillus sp. PCE3 removed nitrate up to 40–60 mM(2,500–3,700 ppm) depending on the nitrate concentration inmedia. Therefore, Bacillus sp. PCE3 can be a good candidate forthe microbial remediation of nitrate-deposited soils in glass andplastic film houses.Keywords microbial remediation · nitrate uptake · salt stress ·soil microorganism서론질소원으로 중요한 질산이온은 식물의 생육 초기부터 성장에 주된 영양소로 이용되며(Crawford, 1995), 질산이온의 흡수량과 작물의 성장량 사이에는 유의한 양의 상관관계가 있다(Walker 등,2001). 그러나 토양중 질산염류의 과다축적은 오히려 염류장애라는 생육장애 현상을 유발하며, 특히 생육초기에 심각한 피해를 유발함이 알려져 있다(Hasegawa 등, 2000; Kang과 Hong,2004). 질소질 비료의 사용량은 토양중 함유량에 따라 시용권장량이 제시되고 있으나, 생산 증대를 목적으로 한 다비재배법은질소질 비료의 과다 시비로 시설을 이용한 원예작물에서 큰 피해가 나타나고 있다(Kang 등, 1996; Cha-um 등, 2010; Mori등, 2011). 시설재배지에서 염류집적이 빈발하는 이유는 주로 강수의 차단에 의한 염류의 용탈억제와 표토의 염류집적에 따른뿌리조직의 생육불량(Archibald 등, 2006; Eker 등, 2006) 때문으로 매년 전국적인 피해가 나타나고 있다. 특히, 연중 여러 번의 수확을 목적으로 한 다량의 비료 투입은 염류장애의 심각성을 증가시켜, 작물의 생산성 감소(De Pascale 등, 1997)는 물론,품질의 저하가 필연적이며(Ozturk 등, 2004), 장기적으로 토양의 질을 부적합하게 변화시켜 지속적 생산을 어렵게 하고 있다.염류가 집적된 토양이나 환경의 복원에는 화학적, 물리적 방법이 이용될 수 있으나 농작물 재배를 위한 토양은 생물학적방법이 바람직하다. 특히, 강수의 물리적 차단으로 염류의 용탈이 불가능한 시설원예 농업에서는 시설내 관개를 함으로써 염류를 씻어내는 방법이 가능하나, 이 경우 하천이나 지하수의 염류오염이 동반될 수 있다(McIsaac, 2003). 시설재배지의 토양개선은 염류를 제거할 수 있는 미생물이나 식물체를 이용하는생물학적 방법(bioremediation)이 최근 성공적으로 사용되고 있다. 특히 질산이온 제거에 활력이 높은 미생물들은 질산이온을질소원이나 전자수용체 또는 환원력으로 이용함이 알려졌다(Steenhoudt 등, 2001). 미생물을 이용한 생물학적 정화방법은폐수처리에서 효과적임을 확인하였고(Zayed와 Winter, 1998;Drysdale 등, 1999; Wang 등, 2010), 시설재배지 토양 중 질산

Oxidative stress due to the over-production of reactive oxygen species (ROS) is associated with human skin aging. This study was designed to identify the bioactive phenolics in detoxified Rhus verniciflua Stokes (DRVS) that may protect human skin against oxidative stress. Under oxidative stress caused by H₂O₂, the 40% (v/v) aqueous methanol extract of DRVS protected human keratinocytes in a dose-dependent manner. The expression of matrix metalloproteinase-1 (MMP-1) was also inhibited by the DRVS extract in human dermal fibroblasts-neonatal cells exposed to ultraviolet A. The major bioactive phenolics of DRVS were tentatively identified by LC/Q-TOF-ESI-MS/MS, and included gallic acid, 2-(ethoxymethoxy)-3-hydroxyphenol, fustin, a fustin isomer, tetragalloyl glucose, pentagalloyl glucose, fisetin, sulfuretin, a sulfuretin isomer, and butein. The results suggest that a DRVS extract may be effective in slowing skin aging through its antioxidative properties and by down-regulating MMP-1 expression. Further studies are needed to examine whether this effect would be mediated by the phenolics identified in this study.

Clinical Study on the Efficacy of the Autogenous Tooth Bone Graft Material (AutoBT) Min Woo Han, Jeong Keun Lee Division of Oral and Maxillofacial Surgery, Department of Denti stry, Ajou University School of MedicinePurpose: This study is to evaluate the efficacy of the autogenous tooth bone graft material, clinically and radiologically, as related to implant installation.Methods: In oral and maxillofacial surgery department of Ajou University Hospital, guided bone regeneration (GBR), implant placement combined with GBR, sinus graft, implant placement com bined with sinus graft, and defect filling were performed in 46 patients, using autogenous tooth bone. Among these, 66 im plants were inserted with autogenous tooth bone. Implant stability quotient (ISQ) was measured by Osstell Mentor (Integration Diag nostics, Goteborg, Sweden) on 39 implants on the operation date and 4 months later, and on 21 implants 9months o n the average at the final setting of restoration. Twenty-eight implants with GBR and sinus graft (GBR group: n=14, sinus graft group: n=14) were evaluated radiologically to measure the resorption of grafted autogenous tooth bone after loading.Results: The average initial stabilization of the installed implants was 67 ISQ, and the average secondary stab ilization at 4 months later was 76. The average bone loss of GBR group as me asured 8.0 months after application of prosthesis loading was 0.29 mm and the average bone loss of the sinus graft group as measured 7.6 months after application of prosthesis loading was 0.66 mm, respectively. In the histological assessme nt, formation of the new bone and continuous trabecular bone pattern was identified around autogenous tooth bone.Conclusion: Based on these results, we concluded that autogenous tooth bon e is an excellent bone graft material that can substitute the autogenous bone.Key words:Autogenous tooth bone graft material, Efficacy, Dental implant

Cephalometric Predisposing Factors of the Snoring and Obstructive Sleep Apnea Eun-Woo Seo, Ho-Kyung Lee, Min-Woo Han, Mi-Hyun Seo, Hyun-Jun K im 1 , Seung-Il Song Department of Oral and Maxillofacial Surgery, Section of Dentistry, 1 Department of Otorhinolaryngology, Ajou University School of MedicinePurpose: This study was intended to perform a cephalometric comparison between the patients with and without obstructive sleep apnea (OSA). The factors influencing the OSA in the later al cephalogram were also investigated.Methods: Fifty patients who had visited the Sleep Disorder Clinic at th e Ajou University Hospital and evaluated with the polysomnograph (PSG) and cephalogram, were included in the stud y. The patients had the apnea-hypopnea episode over 5 times per hour (apnea-hypopnea index [AHI] ≥5) were diagnosed as OSA after the overnight PSG. To evaluate t he hard and soft tissue profiles, the cephalometric radiograms were taken a t the maximal intercuspation. The correlation between the patie nt’s age, height, weight, body mass index (BMI) and AHI was inspecte d in the OSA and control group. The difference between the OSA and control group was evaluated (Mann-Whitney U Test). The cephalometric influencing factors to OSA were analyzed (Pearson’s correlation coefficient) statistically using SPSS statistics. Results: The OSA Group had a significantly higher BMI than the control group. The mean lower facial height (ANS-Me) was longer in the OSA group; however, statistically significant difference was not detected in the anteroposterior craniofacia l measurements. The distance between mandibular plane and hyoid b one of the OSA group was significantly longer than that of the control group. The hyoid position (MP-Hyoid) had a posit ive correlation between AHI (P＜0.001). However, the measurements of oropharyngeal airway were not different between the two groups. The hypothesis, that the antero-posteriorly narrow oropharyngeal airway may aggravate the airway resistance and give rise to a higher AHI, was rejected in the study. Conclusion: We suggest that the lateral cephalogram may be utilized as a u seful method to evaluate OSA. The patients with a lower hyoid position can be expected to have higher risk s of OSA. However, a comprehensive intraoral inspection, including the soft palate and tonsilar hypertrophy, is emphasiz ed, as the lateral cepahlogram cannot visualize the oropharynge al status completely.Key words:Snoring, Obstructive sleep apnea, Cephalometry

Smart material such as SMA (Shape Memory Alloy) has been studied in various ways because it can perform continuous, flexible, and complex actuation in simple structure. Smart soft composite (SSC) was developed to achieve large deformation of smart material. In this paper, a shell actuator using woven type SSC was developed to enhance stiffness of the structure while keeping its deformation capacity. The fabricated actuator consisted of a flexible polymer and woven structure which contains SMA wires and glass fibers. The actuator showed various actuation motions by controlling a pattern of applied electricity because the SMA wires are embedded in the structure as fibers. To verify the actuation ability, we measured its maximum end-edge bending angle, twisting angle, and actuating force, which were , , and 0.15 N, respectively.

In this paper, biomimetic underwater robots built using smart actuators, e.g., a shape memory alloy (SMA), an ionic polymer metal composite (IPMC), lead zirconate titanate (PZT), or a hybrid SMA and IPMC actuator, are reviewed. The effects of underwater environment were also considered because smart actuators are often affected by their external environment. The characteristics of smart actuators are described based on their actuating conditions and motion types. Underwater robots are classified based on different swimming modes. We expanded our classification to non-fish creatures based on their swimming modes. The five swimming modes are body/caudal actuation oscillatory (BCA-O), body/caudal actuation undulatory (BCA-U), median/paired actuation oscillatory (MPA-O), median/paired actuation undulatory (MPA-U), and jet propulsion (JET). The trends of biomimetic underwater robots were analyzed based on robot speed (body length per second, BL/s). For speed per body length, robots using an SMA as an actuator are faster than robots using an IPMC when considering a similar length or weight. Robots using a DC motor are longer while their speeds per body length are similar, which means that robots using smart actuators have an advantage of compactness. Finally, robots (using smart actuators or a motor) were compared with underwater animals according to their speed and different swimming modes. This review will help in setting guidelines for the development of future biomimetic underwater robots, especially those that use smart actuators.

Conventionally, many robotic hands have been studied to imitate dexterous movement of hand using rigid elements such as joint, links and mechanical actuators. Solid-robot needs complex system under well-controlled condition to show the performance. As an alternative way, soft robotics has been developed to achieve biological motion with compact structure. High adaptability and smooth actuation can be realized with compliant materials. In this research, we developed a prototype soft robotic hand using shape memory alloy (SMA) and woven type smart soft composite (SSC). First, the main components and actuation of hand are defined from the anatomy to build soft robotic hand. Then, woven type SSC based actuator is fabricated and tested as an artificial muscle. Third, a prototype of soft robotic hand is designed and built as followed by anatomical analysis. Finally, the actuation and grasping performance of the soft robot-hand are tested.

The purpose of this study was to evaluated the antioxidative constituents and their activities of the 80% methanolic extracts from fruit of Sorbaria sorbifolia var. stellipila MAX. The isolation of active compound was performed in three steps: solvent partition, open column chromatography, and high-performance liquid chromatography (HPLC). The solvent fractions were tested for their antioxidant activities by oxygen radical absorbance capacity (ORAC). The antioxidant activity of 80% methanolic extracts by various solvent partitions was in the order of 80% MeOH (1.68 0.027), n-hexane (1.02 0.036), (0.95 0.025), EtOAc (1.98 0.065), n-BuOH (1.94 0.054) and Water (1.28 0.032). Therefore, the results indicated that the potential antioxidant activities and functional values were observed significantly at EtOAc fraction from fruit of S. sorbifolia, flavonoid compound isolated.

Korean ginseng (Panax ginseng C.A. Meyer) contains several types of saponins and ginsenosides, which are usually considered the major active components of ginseng. The types and quantities of saponins found in ginseng may differ depending on the region of cultivation. As a result, ginsengs produced in different areas of Korea have been unintentionally mislabeled and/or confused by Korean herbal markets owing to their complicated plant sources. Another concern is that 4- and 6-year-old ginseng roots, traditionally prescribed for different medicinal purposes, can vary in total saponin contents. Therefore, it is necessary to establish a reliable method for distinguishing different cultivation regions and ages of ginseng roots. A rapid resolution liquid chromatography-quadruple time of flight mass spectrometry (RRLC-QTOF/MS) based chemical profiling method was established for the rapid and global evaluation of Korean ginseng roots in this study. The method was successfully applied for the comparison of ginseng roots cultivated in different regions and of differing ages. Principal component analysis (PCA) of the data showed the clear separation of 4- and 6-year-old ginseng roots and of ginseng cultivated in 2 different areas of Korea, Ganghwa and Punggi.

Samples of the edible seaweed, sea mustard (Undaria pinnatifida) were extracted with 80% aqueous methanol, and the concentrated extract was partitioned with ethyl acetate, n-butanol, and water, successively. Isolated fucosterol (1) from the ethyl acetate layers using repeated silica gel and octadecyl silica gel (C18, ODS-A) column chromatography and identified it using spectroscopic data including NMR, MS, and infrared spectroscopy (IR). Osteoclasts are specialized multinucleated cells with bone resorbing activity. The induction of c-Fos and NFATc1 transcription factors by receptor activator of nuclear factor κB ligand (RANKL) is a key event in osteoclast differentiation. Isolated and identification compound 1 was investigated in vitro for their anti-osteoclastic activity. Compound 1 inhibited osteoclastic differentiation in a dose-dependent manner without cytotoxicity. In addition, the inhibitory mechanisms of compound 1 were investigated. Compound 1 induced a clear reduction in the expressions of NFATc1 and c-Fos upon RANKL stimulation. In summary, compound 1 from sea mustard showed anti-osteoporotic potential.

Enterobacter amnigenus GG0461, isolated and identified from greenhouse soils, has a high activity of nitrate uptake in the Pseudomonas agar factor medium. Although nitrate is not essential for the growth of this microorganism, it increases the growth rate. To characterize the microbial nitrate uptake, we measured the effect of chlorate on the uptake, since chlorate is an inhibitor of plant nitrate uptake. In the absence of nitrate, the growth of E. amnigenus was inhibited by chlorate at concentrations higher than 1 mM. In the presence of 50 mM nitrate, nitrate uptake was completely inhibited by 30 mM of chlorate, and growth was suppressed by chlorate at concentrations above 10 mM. In the presence of chlorate, the growth and nitrate uptake gradually improved when nitrate concentration increased. To overcome the inhibitory effect of chlorate, the nitrate concentration was required to be 2.5 times higher than that of chlorate, suggesting that there exists competition between chlorate and nitrate for the binding site of the nitrate transporter. Chlorate-induced inhibitions of bacterial nitrate uptake and growth seemed to have different mechanisms: a competitive inhibition in the former case and the formation of chlorite, a toxic reduced metabolite of chlorate, in the latter case.

In order to identify secondary metabolites, the root of Brassica rapa was extracted with 80% aqueous MeOH, and the concentrated extract was partitioned with EtOAc, n-BuOH and . From the EtOAc and n-BuOH fractions, four secondary metabolites were isolated through the repeated silica gel and octadecyl silica gel (ODS) column chromatographies. From the result of spectroscopic data including NMR and MS, the chemical structures of the compounds were determined as 4-(methoxymethyl)phenol (1), -methoxy-2,5-furandimethanol (2), phenyl--D-glucopyranoside (3), and 2-phenylethyl--D-glucopyranoside (4). They were isolated for the first time from Brassica rapa.

In this study, we investigated broadcasting industry in Korea and in U.S. to find out what mostly makes the broadcasting industry competitive for the near future. One source multi use(from now on OSMU) marketing strategy is important when discussing profits of broadcasting contents. To develop a theoretical and academic framework of OSMU, 14 experts participated in focus group interview. A new meaning of OSMU is defined and 4 types of OSMU business models are developed in the study. Also, two successful examples of broadcasting contents, each from Korea and U.S., were analyzed with the models that we have developed. Lastly, we discussed how to enhance the competitiveness of broadcasting contents and industry by using the benefit-maximizing-strategies of OSMU.

A new compound, miroestrol-3-O-β-D-glucopyranoside, was isolated from the roots of Pueraria mirifica (white kwao krua). The structure of the compound was established on the basis of NMR, ESI-MS, and IR spectroscopic data.

A loop-linked structure, which is capable of morphing in various modes, including volumetric transformation, is developed based on knitting methods. Morphing flowers (a lily-like, a daffodil-like, gamopetalous, and a calla-like flower) are fabricated using loop patterning, and their blooming motion is demonstrated by controlling a current that selectively actuates the flowers petals.

The beam steering mechanism has been a key element for various applications ranging from sensing and imaging to solar tracking systems. However, conventional beam steering systems are bulky and complex and present significant challenges for scaling up. This work introduces the use of soft deployable reflectors combining a soft deployable structure with simple kirigami/origami reflective films. This structure can be used as a macroscale beam steering mechanism that is both simple and compact. This work first develops a soft deployable structure that is easily scalable by patterning of soft linear actuators. This soft deployable structure is capable of increasing its height several folds by expanding in a continuous and controllable manner, which can be used as a frame to deform the linearly stretchable kirigami/origami structures integrated into the structure. Experiments on the reflective capability of the reflectors are conducted and show a good fit to the modeling results. The proposed principles for deployment and for beam steering can be used to realize novel active beam steering devices, highlighting the use of soft robotic principles to produce scalable morphing structures.

Automotive wings are considered to be aerodynamic devices which have a significant effect on the driving, braking and cornering performances by influencing the flow of fluids around the vehicle without changing the weight of the vehicle. The wings have developed from having a fixed shape to multi-sectional wings in order to amplify the advantages of their aerodynamic effect in specific situations such as cornering and braking. However, the multi-sectional wings based on flaps, ailerons, and slats have to modify their surface or camber using hinged parts. These discrete sections create aerodynamic losses during shape changes. In this paper, a morphing car-spoiler based on a reinforced elastomer capable of continuous self-actuation throughout its surface was applied to a small-scale vehicle without slotted parts or mechanical elements. The designed morphing car-spoiler consists of a woven type Smart Soft Composite (SSC) which was made by weaving Shape Memory Alloy (SMA) wires and glass fibers embedded in a polydimethylsiloxane (PDMS) polymeric soft matrix. The phase transformation from martensite to austenite of the SMA wires creates an axial load in the longitudinal direction resulting in symmetric bending of the spoiler. Using an open-blowing type wind tunnel, tests were conducted on the stand-alone spoiler to verify its aerodynamic effects. Furthermore, to evaluate its performance in practice, the morphing car-spoiler was mounted on a small-scale vehicle and tested in a closed-type wind tunnel. Results show that the morphing car-spoiler generates a downforce which increases the normal tire adhesion and that it is possible to adapt its shape for various situations such as cornering and braking.Copyright © 2014 by ASME

Phenolics of the fresh ripe fruits of Rubus coreanus Miquel were extracted and separated into anthocyanin and the non-anthocyanin fractions, which were used for the evaluation for antioxidant capacity and neuroprotective effects. The anthocyanin fraction accounted for approximately 47-55% of the total antioxidant capacity of the whole extract and had significantly higher free radical-scavenging capacity than the non-anthocyanin fraction. Furthermore, the anthocyanins alleviated intracellular oxidative stress, as assayed by in vitro fluorescent measurements. The anthocyanins showed neuroprotective effects on PC-12 cells in vitro against oxidative stress in a dose-dependent manner. Triple quadrupole LC/MS and Q-TOF LC/MS analyses revealed four major anthocyanins; cyanidin 3-O-sambubioside, cyanidin 3-O-glucoside, cyanidin 3-O-xylosylrutinoside, and cyanidin 3-O-rutinoside in increasing order of amounts. These results demonstrated that anthocyanins are the major components and contributors to the antioxidant capacity of ripe R. coreanus Miquel fruits. Further studies are warranted to determine whether consumption of the fruits reduces oxidative stress in the brain and promotes health.

Repeated silica gel and octadecyl silica gel (ODS) column chromatography of the aerial parts of Artemisia princeps PAMPANINI (Sajabalssuk) led to the isolation of a new sesquiterpenoid, 3-((S)-2-methylbutyryloxy)-costu-1(10),4(5)-dien-12,6 alpha-olide (2), along with two previously reported sesquiterpenoids: 8 alpha-angeloyloxy-3beta,4 beta-epoxy-6 beta H,7 alpha H,8 beta H-guaia-1(10),11(13)-dien-12,6 alpha-olide (1, carlaolide B) and 3beta,4 beta-epoxy-8 alpha-isobutyryloxy-6 beta H,7 alpha H,8 beta H-guaia-1(10),11(13)-dien-12,6 alpha-olide (3, carlaolide A). The structure of compound 2 was elucidated by spectroscopic data analysis, including one dimensional (1D) and two dimensional (2D) nuclear magnetic resonance (NMR) experiments. Of the isolates, compound 2 exhibited potent cytotoxicity against human cervix adenocarcinoma cells and induced apoptosis.

Objectives: The purpose of this study was to evaluate changes in the pharyngeal airway space and hyoid bone position after mandibular setback surgery with bilateral sagittal split ramus osteotomy (BSSRO) and to analyze the correlation between the amount of mandibular setback and the amount of change in pharyngeal airway space or hyoid bone position. Materials and Methods: From January 2010 to February 2013, a total of 30 patients who were diagnosed with skeletal class III malocclusion and underwent the same surgery (BSSRO) and fixation method in the Division of Oral and Maxillofacial Surgery, Department of Dentistry at the Ajou University School of Medicine (Suwon, Korea) were included in this study. Lateral cephalograms of the 30 patients were assessed preoperatively (T1), immediately postoperatively (T2), and 6 months postoperatively (T3) to investigate the significance of changes by time and the correlation between the amount of mandibular setback and the amount of change in the airway space and hyoid bone position. Results: Three regions of the nasopharynx, oropharynx, and hypopharynx were measured and only the oropharynx showed a statistically significant decrease (P＜0.01). A significant posterior and inferior displacement of the hyoid bone was found 6 months after surgery (P＜0.01). Analysis of the correlation between the amount of mandibular setback and the amount of final change in the airway space and hyoid bone position with Pearson’s correlation showed no significant correlation. Conclusion: In this study, the oropharynx significantly decreased after mandibular setback surgery, and changes in the surrounding structures were identified through posteroinferior movement of the hyoid bone during long-term follow-up. Therefore, postoperative obstructive sleep apnea should be considered in patients who plan to undergo mandibular setback surgery, and necessary modifications to the treatment plan should also be considered.

Shape memory alloy (SMA) wire embedded composites (SMAECs) are widely used as morphing structures in small-size and high-output systems. However, conventional SMAECs cannot keep deformed shapes without additional energy. In this paper, a new kind of smart structure named the woven type smart soft composite (SSC) beam is introduced, which is not only capable of morphing, but also maintaining its deformed shape without additional energy. The woven type SSC beam consists of two parts: woven wires and matrix. The selected woven wires are nitinol (Ni–Ti) SMA wires and glass fibers, while the matrix part is polydimethylsiloxane (PDMS). In order to evaluate the performance of the woven type SSC beam in areas such as in-plane deformation, blocking force and repeatability, a beam-shape specimen is prepared of size 100 mm (length) × 8 mm (width) ×3 mm (thickness). The fabricated SSC beam achieved 21 mm deformation and 16 mm shape retention. Blocking force was measured using a dynamometer, and was about 60 mN. In the repeatability test, it recovered almost the same position when its cooling time was 90 s more. Consequently, the woven type SSC beam can be applied to bio-mimicking, soft morphing actuators, consuming less energy than traditional SMAECs.