• Proceedings of the Korea Information Processing Society Conference
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• 2014.11a
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• pp.913-916
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• 2014

본 논문의 수중로봇 도미(Domi) ver1.0는 관상어용 물고기 로봇 개발을 목표로 연구 개발되었다. 물고기 로봇은 머리, 1단, 2단 몸체와 꼬리부분과 2개의 구동 관절로 구성되어 있다. 물고기 로봇의 추력에 적합한 구동부 선정을 위하여 물고기 로봇 모델링과 유영 해석을 통하여 관절 구동부가 설계되었다. 또한 물고기 로봇의 유영알고리즘은 Lighthill 운동학 해석을 기초로 생체 모방의 유영 근사화 방법을 적용하였다. 설계된 물고기는 수동유영 및 자율운영모드로 동작된다. 수동유영모드는 RF 송수신에 의하여 구현된다. 본 설계된 물고기로봇 도미 ver1.0은 수중 현장시험 평가을 통하여 추력, 내구성, 방수성 등의 성능이 우수함을 확인하였다.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.5
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• pp.219-224
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• 2015

In this paper, the designed fish robots DOMI ver1.0 is researched and development for aquarium underwater robot. The presented fish robot consists of the head, 1'st stage body, 2nd stage body and tail, which is connected two point driving joints. The model of the robot fish is analysis to maximize the momentum of the robot fish and the body of the robot is designed through the analysis of the biological fish swimming. Also, Lighthill was applied to the kinematics analysis of robot fish swimming algorithms, we are applied to the approximate method of the streamer model that utilizes techniques mimic the biological fish. The swimming robot has two operating mode such as manual and autonomous operation modes. In manual mode the fish robot is operated to using the RF transceiver, and in autonomous mode the robot is controlled by microprocessor board that is consist PSD sensor for the object recognition and avoidance. In order to the submerged and emerged, the robot has the bladder device in a head portion. The robot gravity center weight is transferred to a one-axis sliding and it is possible to the submerged and emerged of DOMI robot by the breath unit. It was verified by the performance test of this design robot DOMI ver1.0. It was confirmed that excellent performance, such as driving force, durability and water resistance through the underwater field test.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.1
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• pp.1-7
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• 2012

This paper introduces the mechanical design, fabrication, and control of a biomimetic fish robot whose driving motions resemble a real fish's flexibility and movement. This robot uses two motors create flexible movement like that of a fish. Several schemes, such as neutral buoyancy, fast underwater swimming, and direction changes, are introduced. The tail of the fish robot is made of a polymer material for flexible movement. The interior of the tail contains a joint and a wire. A sine wave command was applied to the tail to produce motion resembling a real fish swimming, and a buoy control device was installed. The up and down motion of the robot fish was controlled using this device.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.53-54
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• 2010

• Journal of computational fluids engineering
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• v.19 no.2
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• pp.99-107
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• 2014

The aim of the present study is to investigate the flow interference between two adjacent undulating fish-like body, and its effect on the undulating propulsion. For this purpose, unsteady two dimensional incompressible flow calculations were conducted using an unstructured mesh flow solver, coupled with an overset mesh technique. To deal with mesh deformation due to fish locomotion, spring analogy is utilized. The fish body used in the simulation is constructed from the NACA0012 airfoil. The study indicates that the propulsion of undulating fish is proportional to frequency and wavelength of the midline oscillation when there is no adjacent fish. It also reveals that average thrust was increased when the vortex shedding from the tail was conserved well and pressure difference between upper and lower sides of the fish was magnified due to flow interference. From this study, which relative position and phase difference of locomotion between two fishes can generate maximum thrust was known among six different cases.

• Journal of computational fluids engineering
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• v.16 no.2
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• pp.24-29
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• 2011

Immersed boundary lattice Boltzmann method has been applied to analyze the characteristics of the self-propelled fish motion swimming robot. The airfoil NACA0012 with caudal fin stroke model was considered to examine the characteristics. The foil in steady forward motion and a combination of steady-state harmonic deformation produces thrust through the formation of a flow downstream from the trailing edge. The harmonic motion of the foil causes unsteady shedding of vorticity from the trailing edge, while forming the vortices at the leading edge as well. The resultant thrust is developed by the pressure difference formed on the upper and lower surface of the airfoil. and the time averaged thrust coefficient increases as Re increase in the region of $Re{\leqq}700$. The suggested numerical method is suitable to develop the fish-motion model to control the swimming robot, however It would need to extend in 3D analysis to examine the higher Re and to determine the more detail mechanism of thrust production.

• 한국전산유체공학회:학술대회논문집
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• 2009.04a
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• pp.252-268
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• 2009

In the present study, a grid deformation technique has been incorporated into the unsteady compressible and incompressible viscous flow solvers on unstructured hybrid meshes. An algebraic method based on the basis decomposition of normal edge vector was used for the deformation of viscous elements, and a ball-vertex spring analogy was adopted for inviscid elements among several spring analogy methods due to its robustness. The present method was validated by comparing the results obtained from the grid deformation and the rigid motion of entire grids. Fish swimming motion of an NACA0012 airfoil and flapping wing motion of a generic fighter were simulated to demonstrate the robustness of the present grid deformation technique.

• Journal of computational fluids engineering
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• v.14 no.3
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• pp.33-48
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• 2009

In the present study, a fast grid deformation technique has been incorporated into the unsteady compressible and incompressible viscous flow solvers on unstructured hybrid meshes. An algebraic method based on the basis decomposition of normal edge vector was used for the deformation of viscous elements, and a ball-vertex spring analogy was adopted for inviscid elements among several spring analogy methods due to its robustness. The present method was validated by comparing the results obtained from the grid deformation and the rigid motion of entire grids. Fish swimming motion of an NACA0012 airfoil and flapping wing motion of a generic fighter were also simulated to demonstrate the robustness of the present grid deformation technique.

• Proceeding of EDISON Challenge
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• 2016.11a
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• pp.44-48
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• 2016

물 속에서 고속으로 유영하는 상당수의 어류는 긴 부리 모양의 주둥이를 가진다. 대표적으로 지구상 가장 빠른 물고기인 돛새치가 있다. 이러한 사실은 이 독특한 형상과 고속운동의 상관관계에 대해 학구적 호기심을 자아냈고 그에 따라 본 연구를 수행하였다. 본 연구에서는 돛새치, 청새치들의 2차원 형상을 가지고 부리의 존재 유무가 항력에 미치는 영향을 분석하고 더 나아가 미사일의 spike가 항력에 미치는 영향을 분석하였다. 또한 부리가 방향전환 시 기동성 증진에도 기여하는지를 알아보았다. 해석을 위해 Kflow Edison_13와 2D_Comp_P 해석자를 활용하여 동일 유동조건에서 항력계수를 비교하였다. 그리고 돛새치가 방향 전환할 때 발생하는 모멘트계수를 얻기 위해 2D_Incomp_P 해석자를 활용하였다.