• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.6
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• pp.1306-1311
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• 2012

In this paper, we proposed on the direction of self-repairing mimicking the cell on the digital system design. Three-dimensional array of cells rather than using the original structure of FPGA, an array of blocks for efficient error detection methods were investigated. With a certain regularity, so the design method in detail by dividing the full array. The digital circuits can be detected fault location easily and quickly.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.176-181
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• 2007

This paper presents evolvable neural networks based on a developmental model for navigation control of autonomous mobile robots in dynamic operating environments. Bio-inspired mechanisms have been applied to autonomous design of artificial neural networks for solving practical problems. The proposed neural network architecture is grown from an initial developmental model by a set of production rules of the L-system that are represented by the DNA coding. The L-system is based on parallel rewriting mechanism motivated by the growth models of plants. DNA coding gives an effective method of expressing general production rules. Experiments show that the evolvable neural network designed by the production rules of the L-system develops into a controller for mobile robot navigation to avoid collisions with the obstacles.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.7
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• pp.571-577
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• 2016

In this paper, we propose a novel propulsion method for a Biomimetic underwater robot, which is a bio-inspired approach. The proposed propulsion method mimics the pectoral fins of a real fish. Pectoral fins of real fish are able to propel and change direction. We designed the propulsion mechanism of 1 D.O.F. that has two functions (propel and change direction). We named this propulsion system 'Flipper'. The proposed propulsion method can control forward, pitch and yaw motion using the Flipper. We made an experimental underwater robot system and verified the proposed propulsion method. We measured its maximum speed and turning motion using an experimental underwater robot system. We also analyzed the thrust force from the maximum speed, using the thrust equation. Experimental results showed that our propulsion method enabled the thrust system of the biomimetic robot.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.158-163
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• 1998

This paper is our first attempt to construct a information processing system such as the living creatures' brain based on artificial life technique. In this paper, we propose a method of constructing neural networks using bio-inspired emergent and evolutionary concept, Ontogeny of living things is realized by cellular automata model and Phylogeny that is living things adaptation ability themselves to given environment, are realized by evolutionary algorithms. Proposing evolving cellular automata neural systems are calledin a word ECANS. A basic component of ECANS is 'cell' which is modeled on chaotic neuron with complex characteristics, In our system, the states of cell are classified into eight by method of connection neighborhood cells. When a problem is given, ECANS adapt itself to the problem by evolutionary method. For fixed cells transition rule, the structure of neural network is adapted by change of initial cell' arrangement. This initial cell is to become a network b developmental process. The effectiveness and the capability of proposed scheme are verified by applying it to pattern classification and robot control problem.

• 한국태양에너지학회:학술대회논문집
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• 2012.03a
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• pp.410-413
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• 2012

A traditional fabrication method is very difficult to make small robots using embedded sensors, actuators and connectors. Fortunately, Shape Deposition Manufacturing can provide an alternative method, and it has many benefits. Firstly, the weight of robot can be lighter, as it can be consisted of composite materials. Secondly, SDM can make simple robot structures because this approach does not need to use connectors and fasteners. Lastly, SDM gives stiffness and flexibility at the specific parts. Therefore, in this paper, we present a design of 3 segment legs organized by SDM, what the SDM approach is, and compare SDM method with 3 segment prototype legs which uses a traditional approach and made by DGIST.

• Earthquakes and Structures
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• v.17 no.1
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• pp.63-73
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• 2019

This paper studies damage detection as an optimization problem. A new objective function based on changes in natural frequencies, and Natural Frequency Vector Assurance Criterion (NFVAC) was developed. Due to their easy and fast acquisition, natural frequencies were utilized to detect structural damages. Moreover, they are sensitive to stiffness reduction. The method presented here consists of two stages. Firstly, Finite Element Model (FEM) is updated. Secondly, damage severities and locations are determined. To minimize the proposed objective function, a new bio-inspired optimization algorithm called salp swarm was employed. Efficiency of the method presented here is validated by three experimental examples. The first example relates to three-story shear frame with two single damage cases in the first story. The second relates to a five-story shear frame with single and multiple damage cases in the first and third stories. The last one relates to a large-scale eight-story shear frame with minor damage case in the first and third stories. Moreover, the performance of Salp Swarm Algorithm (SSA) was compared with Particle Swarm Optimization (PSO). The results show that better accuracy is obtained using SSA than using PSO. The obtained results clearly indicate that the proposed method can be used to determine accurately and efficiently both damage location and severity in multi-story shear frames.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.136-142
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• 2013

In nature, many small insects are using jumping as a survival strategy. Among them, fleas jump in a unique method. They use an elastomer, 'Resilin', an extensor muscle and a trigger muscle. By contracting the extensor muscle, the elastic energy, that makes a flea to jump, is stored in the resilin. After storing energy, the trigger muscle begins contracting and pulling the extensor muscle. When the extensor muscle crosses the rotational joint, direction of torque generated from the extensor muscle reverses, 'torque reversal mechanism'. Simultaneously, the elastic energy stored in the resilin releases rapidly and is converted into the kinetic energy. It makes a flea to jump 150 times its body length. In this paper, miniaturized jumping robot using flea-inspired catapult mechanism is presented. This mechanism is based on the 4-bar linkage and the reversal joint and is actuated by Shape Memory Alloy (SMA) coiled springs describing the flea's muscle. The robot prototype is fabricated by SCM process using glass fiber prepregs and a sheet of polyimide film. The prototype is 20mm link length, 34mm width and 2.0g weight and can jump 103cm.

• Smart Structures and Systems
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• v.17 no.3
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• pp.523-539
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• 2016

The ambient vibration measurement is an output-data-only dynamic testing where natural excitations are represented, for instance, by winds and typhoons. The modal identification involving output-only measurements requires the use of specific modal identification techniques. This paper presents the application of a reliable method (the Stochastic Subspace Identification - SSI) implemented in a general purpose software. As a criterion toward the robustness of identified modes, a bio-inspired optimization algorithm, with a highly nonlinear objective function, is introduced in order to find the optimal deployment of a reduced number of sensors across a large civil engineering structure for the validation of its modal identification. The Ting Kau Bridge (TKB), one of the longest cable-stayed bridges situated in Hong Kong, is chosen as a case study. The results show that the proposed method catches eigenvalues and eigenvectors even for a reduced number of sensors, without any significant loss of accuracy.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.842-846
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• 2015

In this study, we propose an algorithm of the method of recovering quickly find the location of the error encountered during separate operations in the functional structure of complex digital circuits by mimicking the self-healing function of the cell. By the digital circuit was divided by 9 function block unit of function, proposes a method that It can quickly detect and recover the error position. It was the detection and recovery algorithms for the error location in the digital circuit of a complicated structure and could extended the number of function block for the $3{\times}3$ matrix structure on the digital circuit.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.11
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• pp.2745-2750
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• 2015

Abstract should be placed here In this study, we propose an algorithm of the method of recovering quickly find the location of the error encountered during separate operations in the functional structure of complex digital circuits by mimicking the self-healing function of the cell. By the digital circuit was divided by 9 function block unit of function, proposes a method that It can quickly detect and recover the error position. It was the detection and recovery algorithms for the error location in the digital circuit of a complicated structure and could extended the number of function block for the $3{\times}3$ matrix structure on the dital circuit.