Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klannlinkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.Keywords: water-running robot, Klann-mechanism, level average analysis, optimal design, orthogonal array

We investigate the electrical spin injection and detection in In 0.53 Ga 0.47 As nanomembranes, which are originally grown on InP substrates and subsequently heterogeneously integrated on SiO 2 /Si substrates via a transfer printing technique. Through local and nonlocal spin valve measurements employing the In 0.53 Ga 0.47 As nanomembrane channels on SiO 2 /Si substrates, we successfully observe the electrical detection of spin injection from Ni 81 Fe 19 ferromagnetic metal electrodes into the channels. Furthermore, nonlocal spin valve signals are detected up to T = 300 K without mixing with anisotropic magnetoresistance, which is evidently verified by observing a memory effect.

We have previously reported recombinant productions of bacteriocins using yeast expression plasmid pAUR123, which contains the alcohol dehydrogenase (ADH) promoter, in Saccharomyces cerevisiae cells and their antibacterial activities. In order to improve the antibacterial activities of bacteriocidal yeast cells, a strong glyceraldehyde phosphate dehydrogenase (GPD) promoter gene of S. cerevisiae was amplified and inserted upstream into bacteriocin genes such as the OR-7, Subpeptin JM4-A or JM4-B gene in the corresponding recombinant yeast plasmid. Yeast cells transformed by the recombinant plasmid containing the GPD promoter represented higher antibacterial activities against both Gram positive B. subtilis and Gram negative E. coli cells compared to those transformed by the corresponding recombinant plasmid containing the ADH promoter. Thus, yeast cells harboring the recombinant plasmid containing the GPD promoter constructed in this study could be applied in the food preservative or animal feed industries. 2,3,8,13,15]. 일반적으로 plasmid copy number는 유전자 고 발현을 유도시키지만, copy number가 너무 높거나 과발현은