• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.782-790
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• 2013

In this paper, we propose a better solution for swimming plans of an articulated underwater robot, Crabster, with a view point of biomimetics. As a biomimetic model of underwater organisms, we chose diving beetles structurally similar to Crabster. Various swimming locomotion of the diving beetle has been observed and sorted by robotics technology through experiments with a high-speed camera and image processing software Image J. Subsequently, coordinated patterns of rhythmic movements of the diving beetle are reproduced by simple control parameters in a parameter space which make it easy to control trajectories and velocities of legs. Furthermore, a simulation was implemented with an approximated model to predict the motion of the robot under development based on the classified forward and turning locomotion. Consequently, we confirmed the applicability of parameterized leg locomotion to the articulated underwater robot through the simulated results by the approximated model.

• Smart Structures and Systems
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• 제5권2호
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• pp.139-152
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• 2009

Globally, civil infrastructures are deteriorating at an alarming rate caused by overuse, overloading, aging, damage or failure due to natural or man-made hazards. With such a vast network of deteriorating infrastructure, there is a growing interest in continuous monitoring technologies. In order to provide a true distributed sensor and control system for civil structures, we are developing a Structural Nervous System that mimics key attributes of a human nervous system. This nervous system is made up of building blocks that are designed based on mechanoreceptors as a fundamentally new approach for the development of a structural health monitoring and diagnostic system that utilizes the recently developed piezo-fibers capable of sensing and actuation. In particular, our research has been focused on producing a sensory nervous system for civil structures by using piezo-fibers as sensory receptors, nerve fibers, neuronal pools, and spinocervical tract to the nodal and central processing units. This paper presents up to date results of our research, including the design and analysis of the structural nervous system.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2016년도 제50회 동계 정기학술대회 초록집
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• pp.366-366
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• 2016

Nanoscale observation of attachment systems of animals has revealed various exquisite multiscale architectures for essential functions such as gecko's locomotion, beetles' wing fixation, octopuses' sucking and crawling. In particular, the hierarchical 3-dimensional hexanonal nano-architectures in the tree frog's adhesion is known to have the capability of the enhancement of adhesion forces on the wet or rough surfaces due to the conformal contacts against rough surfaces and water-drainable micro channels. Here, we report that tree frog-inspired patches using unique artificial 3-dimensional hexagonal structures can be exploited to form reversibly enhanced adhesion against various highly curved and rough surfaces in dry and wet condition. To investigate the adhesion effect of micro-channels, we changed the arrangement of microstructure and spacing gaps between micro-channels. In addition, we introduced the 3-dimensional hexagonal hierarchical architectures to artificial patches to enhance to conformal contacts on the various rough surfaces such as skin and organs. Using the robust adhesion properties, we demonstrated the self-drainable and comfortable skin-attachable devices which can measure EKG (electrokardiogramme) for in-vitro diagnostics. As a result, bio-inspired programmable nano-architectures can be applied in versatile devices such as, medical patches, skin-attachable electronics etc., which would shed light on future smart, directional and reversible adhesion systems.

• 대한기계학회논문집 C: 기술과 교육
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• 제1권1호
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• pp.21-26
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• 2013

본 논문에서는 최근 미래 신산업 혁명을 주도할 유망기술로 각광 받고 있는 3D 프린팅 기술과 이를 이용한 조직공학 및 재생의학 분야의 응용 기술을 살펴보았다. 한국기계연구원에서는 3D 프린팅 기술을 바탕으로 독자적인 3D 바이오프린팅 장비를 설계 및 제작하였으며, 개발된 3D 바이오프린팅 장비를 이용하여 다양한 분야에 적용이 가능한 3D 형상의 조직공학용 스캐폴드를 제작하였다. 또한 세포와 생체재료를 3D로 직접 프린팅 할 수 있는 세포 프린팅 기술을 개발하였으며, 이는 인공장기 개발분야의 원천 기술로 조직공학 및 재생의학 분야에 3D 프린팅 기술이 활용될 수 있는 기반을 확립하였다.

• 한국산학기술학회논문지
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• 제21권5호
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• pp.103-110
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• 2020

수중 로봇의 가장 기본 성능이라 할 수 있는 동적 성능인 유영속도와 동적 효율 향상을 위해 수중생물을 모사한 로봇들이 주로 연구되고 있다. 그중에서 생체모사 소프트 로봇은 유연한 꼬리지느러미를 적용함으로써 높은 자유도를 구현할 수 있다. 다만, 유연한 구동부의 효율을 높이기 위해서는 구동 주파수에 맞추어 꼬리지느러미의 강성이 바뀌어야 한다. 따라서, 연구를 통해 새로운 형태의 가변강성 메커니즘을 구현하고, 이를 연구 과정에서 검증하였다. 본 연구에서는 실제 돌고래의 해부도에서 영감을 얻어, 가변강성 메커니즘을 적용한 돌고래 로봇을 새로이 설계하고 제작하는 과정을 기술하였다. 실제 돌고래의 척추 모양을 모사하여, 절삭과 적층형 공정으로 가변강성 구동부를 제작하였다. 로봇 돌고래를 구동하기 위한 텐던도 실제 돌고래의 텐던 위치를 고려하여 배치하였으며, 추가로 강성 변화를 위한 텐던을 설치하였다. 돌고래의 유선형 외형을 모사하여 로봇 돌고래를 제작하였고, 강성 변화에 따른 로봇 돌고래의 유영속도를 측정하였다. 동일한 구동 주파수에 꼬리지느러미 구동부의 강성을 변화시켰을 때, 로봇 돌고래의 유영속도의 차이가 약 1.24배, 추력으로는 약 1.5배 변화하였다.

• Smart Structures and Systems
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• 제3권4호
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• pp.495-505
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• 2007

• 한국세라믹학회지
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• 제51권1호
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• pp.7-10
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• 2014

Abalone shell is composed of 95 wt% $CaCO_3$ platelets and 5 wt% of a protein-rich organic matrix which acts as an adhesive layer, connecting aragonite tablets, thus maintaining the structural integrity of the composite. By mimicking abalone shell, we prepared a silicate plate/polymer nanocomposite by infiltrating PMMA between silicate layers and warm-pressing them at $200^{\circ}C$ for 1 h under 15 tons to make organic-inorganic composite materials. To examine the organic-inorganic composite materials after the warm-pressing procedure, the composite sample was analyzed with FE-SEM and TG. The bending strengths and densities of the composites prepared by a silicate plate and PMMA after the warm-pressing process were ~140 MPa and 1.5, respectively.

• 한국정밀공학회지
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• 제33권5호
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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.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2011년도 제41회 하계 정기 학술대회 초록집
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• pp.202-202
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• 2011

The research of 3-dimensional (3-D) scaffold for tissue engineering has been widely investigated as the importance of the 3-D scaffold increased. 3-D scaffold is needed to support for cells to proliferate and maintain their biological functions. Furthermore, its architecture defines the shape of the new bone and cartilage growth. Polycaprolactone (PCL) has been one of the most promising materials for fabricating 3-D scaffold owing to its excellent mechanical property and biocompatibility. However, there are practical problems for using it, in vitro and in vivo; extracellular matrix components and nutrients cannot penetrate into the inner space of scaffold, due to its hydrophobic property, and thus cell seeding and attachment onto the inner surface remain as a challenge. Thus, the surface modification strategy of 3-D PCL scaffold is prerequisite for successful tissue engineering. Herein, we utilized a mussel-inspired approach for surface modification of 3-D PCL scaffold. Modification of 3-D PCL scaffolds was carried out by simple immersion of scaffolds into the dopamine solution and stimulated body fluid, and as a result, hydroxyapatite-immobilized 3-D PCL scaffolds were obtained. After surface modification, the wettability of 3-D PCL scaffold was considerably changed, and infiltration of the pre-osteoblastic cells into the 3-D scaffold followed by the attachment onto the surface was successfully achieved.

• Smart Structures and Systems
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• 제7권3호
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• pp.223-228
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• 2011

An understanding of biomaterials' smart properties and how biocomposite materials are manufactured by cells provides not only bio-inspiration for new classes of smart actuators and sensors but also foundational technology for smart materials and their manufacture. In this case study, I examine the unique smart properties of bone, which are evident at multiple length scales and how they provide inspiration for novel classes of mechanoactive materials. I then review potential approaches to engineer and manufacture bioinspired smart materials that can be applied to solve currently intractable problems such as the need for "smart" body armor or decor cum personal safety devices.