• The KIPS Transactions:PartA
• /
• v.16A no.4
• /
• pp.255-262
• /
• 2009

We present an autonomous entertainment dolphin robot system based on ubiquitous sensor networks(USN). Generally, It is impossible to apply to USN and GPS in underwater bio-mimetic robots. But An Entertainment dolphin robot which presented in this paper operates on the water not underwater. Navigation of the underwater robot in a given area is based on GPS data and the acquired position information from deployed USN motes with emphasis on user interaction. Body structures, sensors and actuators, governing microcontroller boards, and swimming and interaction features are described for a typical entertainment dolphin robot. Actions of mouth-opening, tail splash or water blow through a spout hole are typical responses of interaction when touch sensors on the body detect users' demand. Dolphin robots should turn towards people who demand to interact with them, while swimming autonomously. The functions that are relevant to human-robot interaction as well as robot movement such as path control, obstacle detection and avoidance are managed by microcontrollers on the robot for autonomy. Distance errors are calibrated periodically by the known position data of the deployed USN motes.

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

• The Journal of Korean Academy of Prosthodontics
• /
• v.56 no.4
• /
• pp.391-395
• /
• 2018

Increasing demands for zirconia material in clinics, assessment of biocompatibility of zirconia is essential. In this article, a review of in vitro studies of zirconia compatibility was performed. Zirconia showed great biocompatibility at in vitro studies with various cell lines such as fibroblasts, osteoblasts, and lymphocytes. Many studies reported that zirconia caused no cytotoxicity or mutation. Zirconia also showed less bacterial adhesion. There were no adverse effects except for small reduced strength with in vitro study mimicking long-term exposure of body fluid. According to the study with ostoblast-like cells, zirconia could regulate genes of immunity, molecular transport, and cell cycle. Such gene regulating was considered as one of the reasons of zirconia biocompatibility. With biocompatibility of zirconia powders, in vitro studies had controversial conclusions. It seems that zirconia powders might have cytotoxicity.

• The Korean Journal of Malacology
• /
• v.26 no.1
• /
• pp.1-18
• /
• 2010

Biological organisms produce organic-inorganic nanocomposite composites that are hierarchically organized in composition and microstructure, containing both inorganic and organic components in complicated mixtures. The process related to the generation and regeneration of organic-inorganic complex in nature is called biomineralization process. Understanding how the process operates in a biological environment is a valuable guide to the synthesis of novel advanced material and developing important industrial processes. Like the mechanism of organisms, mollusks were also synthesized from interaction between organic matrices and minerals and their morphology was designed through biomineralization. In this study, shell formation has been studied as a bio-model and the application of biomimetics based on biomineralization is focused.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.50 no.8
• /
• pp.264-273
• /
• 2013

The importance of the robots has emerged as the means of minimizing the casualties in the future war, and, thus, the biomimetic robots mimicking the optimized organisms has been actively studied. The robot inspired lizard is suitable for reconnaissance and the surveillance in narrow areas. In this paper, we analyzed the locomotion of a lizard by motion capture system using the infrared markers. We attached 21 markers to the joints of the lizard. By considering the measured data, we analyzed the walking motion of the lizard which trots in a sprawled posture. Moreover, we proposed the 25 dof kinematic model which was able to reproduce the gait of the lizard faithfully. The model was verified by simulations.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.43 no.9
• /
• pp.765-772
• /
• 2015

Aerodynamic force measurements and phase-locked PIV study were carried out to check the bio-mimetic MAV applicability of a swift flight. Two-rotational DOF robotic wing model and blowing-type wind tunnel were employed. The amplitude of twist angle were ${\pm}0$, ${\pm}5$, ${\pm}10$, and ${\pm}20$ deg. and stroke angles were manipulated by simple harmonic function with out-of-phase in regards to the stroke motion. It is acknowledged that the time-varying lift coefficients in accordance with the change of the twist angle did not result in any noticeable differences, just the small decrease and delay. However, the drag exhibited that the small change of the twist angle can produce large thrust. These findings imply why a swift uses small twist angle during flight. The PIV results displayed that the delay of aerodynamic forces is highly associated with the vortical structures around the wing. It is therefore indicated that a process of designing a swift-based Micro Air Vehicle should take the twist angle into consideration, as the essential parameter.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.915-918
• /
• 2005

Advances in Information Technology and in Biomedicine have created new uses for CAD technology with many novel and important biomedical applications. Such applications can be found, for example, in the design and modeling of orthopedics, medical implants, and tissue modeling in which CAD can be used to describe the morphology, heterogeneity, and organizational structure of tissue and anatomy. CAD has also played an important role in computer-aided tissue engineering for biomimetic design, analysis, simulation and freeform fabrication of tissue scaffolds and substitutes. And all the applications require precision geometry of the organs or bones of each patient. But the geometry information currently used is polygon model with none solid geometry and is so rough that it cannot be utilized for accurate analysis, simulation and fabrication. Therefore a case study is performed to deduce a transformation method to build free form surface from a rough polygon data or medical images currently used in the application. This paper describes the transformation procedure in detail and the considerations for accurate organ modeling are discussed.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.12 no.5
• /
• pp.563-570
• /
• 2009

In the future, most military activities will be replaced by robots. Because of many dangerous factors in battlefield, reconnaissance should be performed by robot. Reconnaissance robot should be small for not being detected, be light and simple structure for personal portability and overcome unexpected rough terrain for mission completion. In case of small and light robot, it can't get enough friction force for movement. Therefore small reconnaissance robot need jumping function for movement. In this paper we proposed a biologically inspired jumping mechanism. And we adjusted moment and jumping angle by using four bar linkage, especially varying coupler length.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.46 no.9
• /
• pp.712-722
• /
• 2018

This paper conducts parametric studies on flapping wing design, one of the most important design parameters of insect-mimicking aerial vehicles. Experimental study on wing shape was done through comparison and analysis of thrust, pitching moment, power consumption, and thrust-to-power ratio. A two-axis balance and hall sensor measure force and moment, and flapping frequency, respectively. Wing configuration is biplane configuration which can develop clap and fling effect. A reference wing shape is a simplified dragonfly's wing and studies on aspect ratio and wing area were implemented. As a result, thrust, pitching moment, and power consumption tend to increase as aspect ratio and area increase. Also, it is found that the flapping mechanism was not normally operated when the main wing has an aspect ratio or area more than each certain value. Finally, the wing shape is determined by comparing thrust-to-power ratio of all wings satisfying the required minimum thrust. However, the stability is not secured due to moment generated by disaccord between thrust line and center of gravity. To cope with this, aerodynamic dampers are used at the top and bottom of the fuselage; then, indoor flight test was attempted for indirect performance verification of the parametric study of the main wing.

• Journal of the Korean Ceramic Society
• /
• v.47 no.2
• /
• pp.127-131
• /
• 2010

Biomimetic whisker-like apatite was formed on thermally and NaOH-treated titanium powder in a simulated body fluid (SBF). In the early process of the SBF immersion, the surface structure of the titanium powder was loosened, possibly due to the dissolution of $Na^+$ ions on the surface of the titanium powder into SBF. When immersed for 7 days in SBF, fine precipitates appeared on the titanium surfaces; the coating layer (<200 nm in thickness) consisted of nanostructured, amorphous whisker-like and particulate phase, observed by TEM. With the extension of the immersion time to 16 days, the chrysanthemum flower type morphology of carbonated hydroxyapatite with a nanocrystallinity was developed on the surface of the titanium powder.