• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.3
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• pp.300-308
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• 2015

Recently supercavitating underwater torpedo moving at high speed (over 200 knots) has been interested for their practical advantage of the dramatic drag reduction. Cavitator located in front of the torpedo plays an important role to generate a natural supercavity and control the motion of the object. Supercavity can be created artificially by injection of compressed gas from the rear of the cavitator at a relatively low speed. In this paper, we investigated physical characteristics of artificial supercavities through cavitation tunnel experiments. One of the main focuses of the study was to measure pressure inside the cavity, and examined variation of the gravity effects appearing according to different amount of injected air. It was also found that a stable supercavity could be sustained at injection rates less than that required to form the stable supercavity because of hysteresis effect.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.6
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• pp.1882-1892
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• 1996

This paper is concerned with the position control of the ond degree-of freedom manipulator using pneumatic artificial muscle actuator which is built to have a proper compliance. For t his pneumatic artificial muscle actuator though, it is difficult to make an effective control scheme due to the nonlinearity and uncertainties on the dynamics of the actuator. In this paper, a third-order equation of motion is derived for the actuator including the dynamics of the pneumatic servovalve. Later, various modeling uncertainties due to the nonlinearity and unmodeled dynamics of the servo vlave and the actuator are taken care of, as a trade-off between the closed-loop performance of the controlled system and its robustness to uncertainties. A controller using .mu. synthesis thchnique is designed, and robust performance against measurement noise, various modeling uncertainties due to the dynamics of the servo valve and actuator is achieved. The effectiveness of the proposed control methods is illustrated through simulations and experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.511-512
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• 2006

According to development of medical science and engineering, people has made efforts to solve tile discomfort of body accident as well as the life span. Many cases that reduce pain of a hip joint or limitation of motion using Revision Total Hip Replacement are getting increased. However it has not proved which material is the most appropriate. Scientists are still studying about materials of the artificial joint. In accordance with advance of science, the materials are Betting better. Recently, when Revision Total Hip Replacement is performed, typical materials are Ti-alloys Ceramics. We have studied materials of artificial joints and analyzed which one is better for human's body.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.7
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• pp.637-644
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• 2009

We have analyzed the biomechanical characteristics of cervical spine after total disc replacement using finite element analysis. A finite element model of C2-C7 spinal motion segment was developed and validated by other experimental studies. Two types of artificial discs, semi-constraint and un-constraint, were inserted at C6-C7 segments. Inferior plane of C7 vertebra was fixed and 1Nm of moment were applied on superior plane of C2 vertebra with 50N of compressive load along follower load direction. Mobility of the cervical spine in which each artificial disc inserted was higher than that of intact one in all loading conditions. Also, high mobility at the surgical level after total disc replacement could lead higher facet joint force and ligaments axial stresses. The results of present study could be used to evaluate surgical option and validate the biomechanical characteristics of the implant in total disc replacement in cervical spine.

• Korean Journal of Artificial Intelligence
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• v.11 no.4
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• pp.15-20
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• 2023

Machine learning is comprised of supervised learning, unsupervised learning and reinforcement learning as the type of data and processing mechanism. In this paper, as input and output are unclear and it is difficult to apply the concrete modeling mathematically, reinforcement learning method are applied for crawling robot in this paper. Especially, Q-Learning is the most effective learning technique in model free reinforcement learning. This paper presents a method to implement a crawling robot that is operated by finding the most optimal crawling method through trial and error in a dynamic environment using a Q-learning algorithm. The goal is to perform reinforcement learning to find the optimal two motor angle for the best performance, and finally to maintain the most mature and stable motion about EV3 Crawling robot. In this paper, for the production of the crawling robot, it was produced using Lego Mindstorms with two motors, an ultrasonic sensor, a brick and switches, and EV3 Classroom SW are used for this implementation. By repeating 3 times learning, total 60 data are acquired, and two motor angles vs. crawling distance graph are plotted for the more understanding. Applying the Q-learning reinforcement learning algorithm, it was confirmed that the crawling robot found the optimal motor angle and operated with trained learning, and learn to know the direction for the future research.

• Wind and Structures
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• v.5 no.2_3_4
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• pp.379-392
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• 2002

Numerical flow computations around an aeroelastic 3D square cylinder immersed in the turbulent boundary layer are shown. Present computational code can be characterized by three numerical aspects which are 1) the method of artificial compressibility is adopted for the incompressible flow computations, 2) the domain decomposition technique is used to get better grid point distributions, and 3) to achieve the conservation law both in time and space when the flow is computed a with moving and transformed grid, the time derivatives of metrics are evaluated using the time-and-space volume. To provide time-dependant inflow boundary conditions satisfying prescribed time-averaged velocity profiles, a convenient way for generating inflow turbulence is proposed. The square cylinder is modeled as a 4-lumped-mass system and it vibrates with two-degree of freedom of heaving motion. Those blocks which surround the cylinder are deformed according to the cylinder's motion. Vigorous oscillations occur as the vortex shedding frequency approaches cylinder's natural frequencies.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.334-337
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• 2003

In this paper. we introduce a novel actuation method based on dielectric elastomer. Along with basic principles of actuation using dielectric elastomer a new design of actuator is discussed. The proposed design has advantageous features in reduction in size, speed of response, ease and ruggedness of operation. Using the actuator. a three-degree-of-freedom actuator module is developed, which can provide up-down. and two rotational degree-of-freedom motion. In the application of the proposed actuation method, a micro-robot mimicking the motion of an inchworm is developed.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1558-1562
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• 2008

Ionic polymer metal composite (IPMC), one of Electro- Active Polymer (EAP) actuators, has great attention due to the low-voltage driven, large deformation and its potential for artificial muscles. In this paper, we firstly review fish swimming modes using various propulsion mechanisms. Based on study on the swimming mechanisms, we develop an underwater robot actuator which mimics fanning motion of webfoot form. It consists of four actuators fabricated by using IPMC and PDMS which mimics Bio-inspired motion Experiments using a prototype show that the webfooted IPMC actuator generates large deformation and propulsion.

• Proceedings of the KOSOMBE Conference
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• v.1998 no.11
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• pp.84-85
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• 1998

This study was conducted to characterize the gait of a person climbing or descending the stairs. Using our motion analysis system (Vicon 370), gait patterns of ten healthy females (18.8 - 19.6 yrs. old) were measured 1) when a subject tip-toed the stairs, 2) when a subject climbs the stairs with the whole foot, and 3) when a subject went down the stair, respectively. The results of each cases were compared with the data for the level walking collected from 21 healthy females in the previous studies. The stairway gait data can be used as a useful reference in the design of artificial limbs for the lower-limb amputee.

• International Journal of CAD/CAM
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• v.9 no.1
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• pp.85-91
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• 2010

In this paper, we demonstrate an autonomous design of motion control of virtual creatures (called animated robots in this paper) and develop modeling software for animated robots. An animated robot can behave autonomously by using its own sensors and controllers on three-dimensional physically modeled environment. The developed software can enable us to execute the simulation of animated robots on physical environment at any time during the modeling process. In order to simulate more realistic world, an approximate fluid environment model with low computational costs is presented. It is shown that a combinatorial use of neural network implementation for controllers and the genetic algorithm (GA) or the particle swarm optimization (PSO) is effective for emerging more realistic autonomous behaviours of animated robots.