Abstract:Recently, there is a rising interest on studying bio-inspired robotic fish because of real fish's great maneuverability and high energy efficiency. However, the researches about the robotic fish have not been done so much and there are still lots of problems to use them in the real environment such as in the river. This paper describes a bio-inspired robotic fish 'Ichthus' which is developed in KITECH and has 3 DOF propulsive mechanism. We develop the dynamic motion equation of 'Ichthus' in the underwater environment and analyze response characteristics of 'Ichthus' according to the input parameters of tail fin's amplitude and oscillation frequency. Then we propose control parameters at the various velocities. These parameters are useful to increase energy efficiency and it can be used when the fish robot moves in the real environment, for example, we can propose proper amplitude and oscillation frequency when the fish robot passes through the narrow space between obstacles.

The changes of nutrition assessment indices in patients underwent liver resectionThe changes of nutrition assessment indices in patients underwent liver resection

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The main objective of the research is to analyse the efficiency of bus route operation system which is comprised of Individual Operation System and Joint Operation System. While the reformation of bus route operation system has been usually considered as a service upgrade strategy for inner-city bus operation, it is comparatively difficult to have background information for policy establishment due to shortage of analytical research output. This study adopts Data Envelopment Analysis technique to estimate efficiency of 101 bus routes in Ulsan Metropolitan City which operates two types of operation systems at the same time as of 2009. The analysis results tells that the reason of inefficiency lies on pure technical factor for J.O.G., and scale factor for I.O.G.. It is also confirmed that there is bus route which inefficiently operated in I.O.G and city government needs to prepare the specific plan to upgrade pure technique efficiency before reformation of bus route operation system for successful installation.

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