• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.69-75
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• 2012

This paper proposes a biomimetic finger module to be used in a lightweight hand prosthesis. The finger module consists of finger skeleton and an actuator module driven by SMA (Shape Memory Alloy). The prototype finger module can perform flexion and extension motions; finger flexion is driven by a contraction force of SMA, but it is extended by an elastic force of an extension spring inserted into the finger skeleton. The finger motions are controlled by feedback of electric resistance of SMA because the finger module has no sensors to measure length and angle. Total weight of a prototype finger module is 30g. In experiments the finger motions and finger grip force are tested and compared with simulation results when a constant contraction force of SMA is given. The experimental results show that the proposed SMA-driven finger module is feasible to the lightweight hand prosthesis.

• 제어로봇시스템학회논문지
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• 제21권9호
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• pp.858-862
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• 2015

This paper presents a new forward-viewing mono-camera based obstacle detection algorithm for mobile robots. The proposed method extracts the coarse location of an obstacle in an image using inverse perspective mapping technique from sequential images. In the next step, graph-cut based image labeling is conducted for estimating the exact obstacle boundary. The graph-cut based labeling algorithm labels the image pixels as either obstacle or floor as the final outcome. Experiments are performed to verify the obstacle detection performance of the developed algorithm in several examples, including a book, box, towel, and flower pot. The low illumination condition, low color contrast between floor and obstacle, and floor pattern cases are also tested.

• Smart Structures and Systems
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• 제2권3호
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• pp.225-235
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• 2006

With the discovery in plants of the proteinaceous forisome crystalloid (Knoblauch, et al. 2003), a novel, non-living, ATP-independent biological material became available to the designer of smart materials for advanced actuating and sensing. The in vitro studies of Knoblauch, et al. show that forisomes (2-4 micron wide and 10-40 micron long) can be repeatedly stimulated to contract and expand anisotropically by shifting either the ambient pH or the ambient calcium ion concentration. Because of their unique abilities to develop and reverse strains greater than 20% in time periods less than one second, forisomes have the potential to outperform current smart materials as advanced, biomimetic, multi-functional, smart sensors or actuators. Probing forisome material properties is an immediate need to lay the foundation for synthesizing forisomebased smart materials for health monitoring of structural integrity in civil infrastructure and for aerospace hardware. Microfluidics is a growing, vibrant technology with increasingly diverse applications. Here, we use microfluidics to study the surface interaction between forisome and substrate and the conformational dynamics of forisomes within a confined geometry to lay the foundation for forisome-based smart materials synthesis in controlled and repeatable environment.

• 한국음향학회지
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• 제41권2호
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• pp.227-234
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• 2022

은밀 수중 통신은 수중에서 신호를 전송할 때 다른 대상이 감지하지 못하도록 보내는 통신 방법이다. 수중에서 정보를 은밀하게 보내는 방법은 Radio Frequency(RF)에서 사용되는 방법과 유사하게 Low Probability of Detection(LPD)와 Low Probability of Intercept(LPI)의 특성을 고려하여 설계된다. 그러나 수중에서 음향을 이용하여 통신하는 경우 협소한 주파수 대역폭으로 인해 은밀성을 확보하기 어렵다. 기존의 신호 전송 전력을 낮추거나 변조 대역폭을 늘리는 방법과는 다르게 수중 포유류의 음향 신호를 모방하여 신호를 보내는 방법이 연구되고 있다. 생체모방 은밀 수중향통신은 주로 돌고래나 고래가 발생시키는 클릭음이나 휘슬음을 모방한다. 본 논문은 이러한 생체모방 은밀 수중음향통신의 발전 가능성과 향후 필요한 연구 분야를 파악하기 위해 생체모방 통신 기술들을 조사하고 이에 따른 연구 동향을 소개한다.

• 로봇학회논문지
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• 제12권2호
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• pp.228-238
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• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• 로봇학회논문지
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• 제13권1호
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• pp.63-71
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• 2018

This paper describes a study on posture control of the multi-legged biomimetic underwater robot (CALEB10). Because the underwater environment has a feature that all degrees of freedom are coupled to each other, we designed the posture control algorithm by separating each degree of freedom. Not only should the research on posture control of underwater robots be a precedent study for position control, but it is also necessary to compensate disturbance in each direction. In the research on the yaw directional posture control, we made the drag force generated by the stroke of the left leg and the right leg occur asymmetrically, in order that a rotational moment is generated along the yaw direction. In the composite swimming controller in which the controllers in each direction are combined, we designed the algorithm to determine the control weights in each direction according to the error angle along the yaw direction. The performance of the proposed posture control method is verified by a dynamical simulator and underwater experiments.

• Bulletin of the Korean Chemical Society
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• 제33권12호
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• pp.3998-4002
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• 2012

With continuing progress of nanotechnologies and various applications of nanoparticles, one needs to develop a quick and fairly standard assessment tool to evaluate cytotoxicity of nanoparticles. However, much cytotoxicity studies on the interpretation of the interaction between nanoparticles and cells are non-mechanistic and time-consuming. Here, we propose a simple screening method for the analysis of the interaction between several AgNPs (5.3 to 64 nm) and fluorescence-dye containing vesicles ($12{\mu}m$) acting as a biomimetic cell-membrane. Fluorescence-dye containing vesicle was prepared using a fluorescence probe (1,6-diphenyl-1,3,5-hexatryene), which was intercalated into the lipid bilayer due to their hydrophobicity. Zeta potential of all materials except for bare-AgNPs (+32.8 mV) was negative (-26 to -54 mV). The morphological change (i.e., rupture and fusion of vesicle, and release of dye) after mixing of the vesicle and AgNPs was observed by fluorescence microscopy, and fluorescence image were different with coating materials and surface charge of x-AgNPs. In the results, we found that the surface charge of nanoparticles is the key factor for vesicle rupture and fusion. This proposed method might be useful for analyzing the cytotoxicity of nanoparticles with cell-membranes instead of in vitro or in vivo cytotoxicity tests.

• 한국표면공학회:학술대회논문집
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• 한국표면공학회 2017년도 춘계학술대회 논문집
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• pp.82-82
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• 2017

It is a great challenge to design and develop biologically inspired hierarchical platforms composed of nano and sub-nanopatterned topography for cell and tissue engineering. In this work, we have developed the novel platforms as a synthetic extracellular matrix using graphene and nanopatterned substrates for promoting functions of cells. Monolayer graphene was coated on the nanopatterned matrix with various nanoscale parallel ridges and grooves as scaffolds with hierarchical structures. Strictly, it was found that graphene-matrix nanotopography platforms could promote the functions of cells including stem cells, osteoblast cells, and endothelial cells through the synergically controlled cell-substrate and cell-cell interactions. Our results proposed that the graphene-based nanopatterned scaffolds would allow us to set up an efficient strategy for designing advanced biomimetic engineering systems toward stem cell-based tissue regeneration.

• 동력기계공학회지
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• 제18권1호
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• pp.128-134
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• 2014

For the characteristic assessment of biomimetic shark skin structure pattern for engineering applications, we conducted the elastic hydrodynamic lubrication analysis for the shark skin surface pattern. The shark skin surfaces with roughness are generated numerically in the similar size with real shark skin scales. For the spherical contact on the generated shark skin surface with two different flow directions which are transversal and longitudinal, 3-dimensional elasto-hydrodynamic lubraction analysis are carried out. The result of the longitudinal flow which are similar with the flow of shark skin shows more beneficial effects with lower pressure and less sensitive effect with surface roughness.

• 한국분말야금학회:학술대회논문집
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• 한국분말야금학회 2006년도 Extended Abstracts of 2006 POWDER METALLURGY World Congress Part2
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• pp.1089-1090
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• 2006

Biomimetic apatite deposition behaviors on Zr-1Nb and Ti-6Al-4V plate with various surface conditions were examined. Both alloys were polished with abrasive papers to have different roughness and some of them were treated in NaOH before exposition in simulated body fluid. NaOH treatment was found to enhance the deposition rate of apatite on Ti-6Al-4V significantly. On the other hand, the deposition rate of Zr-1Nb was not influenced by NaOH treatment. Without NaOH treatment, the polished Zr-1Nb with abrasive paper was found to induce more apatite nucleation than the polished Zr-6Al-4V.