• Journal of the Korean Society for Precision Engineering
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• v.33 no.5
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• pp.357-362
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• 2016

Various species of insects display vivid colors, widely known as 'structural color' due to their optical interference. Morpho butterflies are famous for their brilliant iridescent colors, which arise from the photonic-nanostructures of optical interference on their wings. In this paper, we outline the results of a comparative study of the optical properties of bio-inspired Morpho butterfly structures with the widely known Distributed Bragg Reflector (DBR), conducted using a rigorous coupled-wave analysis (RCWA) method for the two structures. Almost analogous tendencies were observed for both Morpho and DBR structures. With variation in the surrounding media, however, Morpho structures showed an obvious peak shift while no significant changes were observed in DBR, which can be applicable.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.6
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• pp.2225-2239
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• 2021

To assist in data collection, the use of a mobile sink has been widely suggested in the literature. Due to the limited sensor node's storage capacity, this manner to collect data induces huge latencies and drop packets. Their buffers will be overloaded and lead to network congestion. Recently, a new bio-inspired optimization algorithm appeared. Researchers were inspired by the swarming mechanism of salps and thus creating what is called the Salp Swarm Algorithm (SSA). This paper improves the sink mobility to enhance energy dissipation, throughput, and convergence speed by imitating the salp's movement. The new approach, named the Mobile Sink based on Modified Salp Swarm Algorithm (MSSA), is approved in a heterogeneous Wireless Sensor Network (WSN) data collection. The performance of the MSSA protocol is assessed using several iterations. Results demonstrate that our proposal surpass other literature algorithms in terms of lifespan and throughput.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.9
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• pp.1145-1151
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• 2010

In this paper, we discuss the design and simulation of a jumping-robot mechanism that is actuated by SMA (shape memory alloy) wires. We propose a jumping-robot mechanism; the structure of the robot is inspired by the musculoskeletal system of vertebrates, including humans. Each robot leg consists of three parts (a thigh, shank, and foot) and three kinds of muscles (gluteus maximus, rectus femoris, and gastrocnemius). The jumping capability of the robot model was tested by means of computer simulations, and it was found that the robot can jump to about four times its own height. This robot model was also compared with another model with a simpler structure, and the performance of the former, which was based on the biomimetic design, was 3.3 times better than that of the latter in terms of the jumping height. The simulation results also verified that SMA wires can be suitable actuators for small jumping robots.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.456-465
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• 2003

It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.245-250
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• 2019

Milli-scale crawling robots have been widely studied due to their maneuverability in confined spaces. For successful crawling, the crawling robots basically required to fulfill alternating gait with elliptical foot trajectory. The alternating gait with elliptical foot trajectory normally generates both forward and upward motion. The upward motion makes the aerial phase and during the aerial phase, the forward motion enables the crawling robots to proceed. This simultaneous forward and upward motion finally results in fast crawling speed. In this paper, we propose a novel alternating mechanism to make a crab-inspired eight-legged crawling robot. The key design strategy is an alternating mechanism based on double four-bar linkages. Crab-like robots normally employs gear-chain drive to make the opposite phase between neighboring legs. To use the gear-chain drive to this milli-scale robot system, however, is not easy because of heavy weight and mechanism complexity. To solve the issue, the double-four bar linkages has been invented to generate the oaring motion for transmitting the equal motion in the opposite phase. Thanks to the proposed mechanism, the robot crawls just like the real crab with the crawling speed of 0.57 m/s.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.2
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• pp.320-326
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• 2008

In this paper, we propose a new algorithm emulating the DNA characteristics for noise-tolerant pattern matching problem on digital system. The digital pattern matching becomes core technology in various fields, such as, robot vision, remote sensing, character recognition, and medical diagnosis in particular. As the properties of natural DNA strands allow hybridization with a certain portion of incompatible base pairs, DNA-inspired data structure and computation technique can be adopted to bio-signal pattern classification problems which often contain imprecise data patterns. The key feature of noise-tolerance of DNA computing comes from control of reaction temperature. Our hardware system mimics such property to diagnose cardiovascular disease and results superior classification performance over existing supervised learning pattern matching algorithms. The hardware design employing parallel architecture is also very efficient in time and area.

• Information and Communications Magazine
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• v.31 no.1
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• pp.53-62
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• 2013

생태계를 구성하고 있는 각 생물체들은 외부에서의 제어 개체 없이 독자적이면서 매우 단순하고 적은 수의 행동 규칙의 준수를 통하여 해당 생태계의 유지, 관리 및 동기화 등의 기능을 수행하고 있음을 관찰 할 수 있다. 이처럼 지구상의 다양한 생물체의 행동 원리를 관찰하고 이를 기반으로 모델링한 알고리듬을 생체모방 알고리듬 (biologically inspired or bio-inspired algorithm)이라 한다. 생체모방 알고리즘은 동종 혹은 이종의 다수의 개체가 존재하고, 주변 환경이 동적으로 변하며, 사용가능한 자원의 제약이 정해져 있을 때, 각 개체들이 분산 및 자율적으로 움직이는 환경에서 안정성, 확장성, 적응성과 같은 특징을 보여주는데, 이는 통신 네트워크 환경 및 서비스 요구사항과 유사성을 갖는다. 본 논문에서는 최근에 발표된 생체모방 알고리즘으로 통신 및 네트워킹 기술로 적용 가능한 Huddling Penguins 알고리즘, Krill Herd알고리즘, Cuckoo 알고리즘에 대해 살펴보고, 관련 프로젝트 및 연구 동향을 정리한다.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.1-7
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• 2024

This paper presents an under-actuated robotic hand inspired by the ligamentous structure of the human hand for a prosthetic application. The joint mechanisms are based on the concept of a tensegrity structure formed by elastic strings. These rigid bodies and elastic strings in the mechanism emulate the phalanx bones and primary ligaments found in human finger joints. As a result, the proposed hand inherently possesses compliant characteristics, ensuring robust adaptability during grasping and when interacting with physical environments. For the practical implementation of the tensegrity-based joint mechanism, we detail the installation of the strings and the routing of the driving tendon, which are related to extension and flexion, respectively. Additionally, we have designed the palm structure of the proposed hand to facilitate opposition and tripod grips between the fingers and thumb, taking into account the transverse arch of the human palm. In conclusion, we tested a prototype of the proposed hand to evaluate its motion and grasping capabilities.

• Smart Structures and Systems
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• v.20 no.3
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• pp.311-328
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• 2017

The characteristics of boundary layers have significant effects on the aerodynamic forces and vibration of the wind turbine blade. The incorporation of active trailing edge flaps (ATEF) into wind turbine blades has been proven as an effective control approach for alleviation of load and vibration. This paper is aimed at investigating the effects of external trailing edge flaps on the flow pattern and velocity distribution within a boundary layer of a NREL 5MW reference wind turbine, as well as designing a new type of velocity sensors for future validation measurements. An aeroelastic-aerodynamic simulation with FAST-AeroDyn code was conducted on the entire wind turbine structure and the modifications were made on turbine blade sections with ATEF. The results of aeroelastic-aerodynamic simulations were combined with the results of two-dimensional computational fluid dynamic simulations. From these, the velocity profile of the boundary layer as well as the thickness variation with time under the influence of a simplified load case was calculated for four different blade-flap combinations (without flap, with $-5^{\circ}$, $0^{\circ}$, and $+5^{\circ}$ flap). In conjunction with the computational modeling of the characteristics of boundary layers, a bio-inspired hair flow sensor was designed for sensing the boundary flow field surrounding the turbine blades, which ultimately aims to provide real time data to design the control scheme of the flap structure. The sensor element design and performance were analyzed using both theoretical model and finite element method. A prototype sensor element with desired bio-mimicry responses was fabricated and validated, which will be further refined for integration with the turbine blade structures.

• Proceedings of the Korean Fiber Society Conference
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• 2003.10a
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• pp.43-44
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• 2003

The new method for preparing hybrid fibers from aqueous solution is described. The method is based on interfacial polyionic complexation between the counter-charged polymers. Polysaccharides, chitosan and gellan, and polypeptides, poly(L-lysine) and poly(L-glutamic acid) were utilized as the components of the fibers. The chitosan-gellan and poly(L-lysine)-gellan hybrid fibers exhibited a high level biodegradability.