• 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 Society of Precision Engineering Conference
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• 2005.06a
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• pp.915-918
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• 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.

• The Journal of Korea Robotics Society
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• v.12 no.2
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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.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39A no.8
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• pp.488-490
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• 2014

This paper deals with distributed time and frequency synchronization algorithms using the flocking technique for OFDMA-based wireless mesh networks. We propose a time and frequency synchronization model taking into account channel propagation delays existing in wireless mesh networks, and analyze the convergence condition of the proposed synchronization algorithm. Convergence performance of the proposed synchronization algorithm is analyzed via computer simulation in terms of synchronization parameters in the time and frequency synchronization model.

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

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.6
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• pp.528-534
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• 2013

The energy consumption problem should be taken into consideration in wireless sensor network. Many studies have been proposed to address the energy consumption and delay problem. In this paper, we propose BISA(Bio-inspired Scheduling Algorithm) to reduce the energy consumption and delay in wireless sensor networks based on biological system. BISA investigates energy-efficient routing path and minimizes the energy consumption and delay using multi-channel for data transmission by multiplexing data transmission path. Through simulation, we confirm that the proposed scheme guarantees the efficient energy consumption and delay requirement.

• Journal of the Society of Naval Architects of Korea
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• v.57 no.2
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• pp.96-103
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• 2020

The new geometric disturbance is proposed to control the flow around the bluff body. The new geometry is characterized by the variable pitch which is applied on the Helically Elliptic Twisted (HET) cylinder. The performance of the HTE geometry as a biomimetic passive flow control was confirmed by Jung and Yoon (2014). The Large Eddy Simulation (LES) is used for the evaluation of the flow control performance of the Variable Pitch HTE (VPHTE) cylinder at Reynolds number (Re) of 3000 corresponding to the subcritical regime. The circular and HTE cylinders are also considered to compare the performance of the VPHTE cylinder at the same Re. The VPHTE cylinder gives the smallest values of the force coefficients than the circular and HTE cylinders. The drag and lift coefficients of the VPHTE cylinder are about 15.2% and 94.0% lower than those of the circular cylinder, respectively. Especially, the VPHTE cylinder achieves about 2.3% and 30.0% reduction of the drag coefficient and the root mean square of the lift coefficient than the HTE cylinder, respectively. Furthermore, The VPHTE cylinder forms more elongated and stabilized separated shear layer than the circular cylinder, which supports the reduction of the force coefficients.

• The Journal of Korea Robotics Society
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• v.13 no.1
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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.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.57-66
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• 2014

This paper describes the design concept of a bio-inspired legged underwater and estimating its performance by implementing simulations. Especially the leg structure of an underwater organism, diving beetles, is fully adopted to our designing to employ its efficiency for swimming. To make it possible for the robot to both walk and swim, the transformable kinematic model according to applications of the leg is proposed. To aid in the robot development and estimate swimming performance of the robot in advance, an underwater simulator has been constructed and an approximated model based on the developing robot was set up in the simulation. Furthermore, previous work that we have done, the swimming locomotion produced by a swimming patten generator based on the control parameters, is briefly mentioned in the paper and adopted to the simulation for extensive studies such as path planning and control techniques. Through the results, we established the strategy of leg joints which make the robot swim in the three dimensional space to reach effective controls.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.862-868
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• 2007

The planar motion of the index finger in general human hands is usually implemented by the actuation of three joints. This task requires a technique to determine the joint combination for each fingertip position which is well-known as the inverse kinematics problem in robotics. Especially, it is an essential work for grasping and manipulation tasks by robotic and humanoid fingers. In this paper, an intelligent neural learning scheme for solving such inverse kinematics is presented. Specifically, a multi-layered neural network is utilized for effective inverse kinematics, where a dynamic neural learning algorithm is employed for fast learning. Also, a bio-mimetic feature of general human fingers is incorporated to the learning scheme. The usefulness of the proposed approach is verified by simulations.