• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2744-2746
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• 2001

이 논문에서는 이동 로봇을 위하여 퍼지이론과 Dempster-Shafer 이론을 이용한 불확실한 환경에서의 센서기반 네비게이션 방법을 제안한다. 제안된 제어기는 장애물 회피 동작과 목적지 찾기 동작을 위한 2개의 행동 모듈로 구성되어 있다. 2개의 행동 모듈은 각각 퍼지 이론으로 학습되었고, 적절한 행동 선택 방법으로 선택되게끔 하였다. 견고한 퍼지 제어기를 가진 로봇이 실험 환경내에서 안전하게 움직이기 위하여 자동으로 지도를 구축(Map Building) 하도록 하였다. 이 실험에서 구성된 맵은 평면상의 격자를 중심으로 작성되었고 로봇의 센서에서 읽어들인 센서 값은 D-S 추론 이론을 이용하여 기존의 맵과 혼합되어진다. 즉, 로봇이 움직일때 마다 실험 환경내에서 새로운 정보를 읽어 들이고, 그 정보로 인하여 기존의 지도가 새로운 지도로 갱신되는 것이다. 이러한 작업을 거치면서 로봇은 장애물과 충돌없이 배회하는 것 뿐 아니라 설정된 목적지까지도 쉽게 찾아갈 수가 있다. 실험에 대한 안정성과 확신을 검증 받기 위하여 실제 로봇에 적용하기보다는 먼저 이동 로봇의 시뮬레이션으로 실험 해 보고자 한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.622-628
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• 2009

A proper walking pattern is to be assigned for a walk of multi-legged robots. For the purpose of identifying a good walking pattern for multi-legged robots, this paper consider a simple model of quadruped robotic walking and analyze its walking balance based on the centroid of foot polygons formed in every step. A performance index to estimate the walking balance is also proposed. Simulation studies show that the centroid trajectory of foot polygons and the walking balance in a common quadruped walking are different according to the walking pattern employed. Based on the walking balance index and a bio-mimetic aspect, a useful walking pattern for quadruped robots is finally addressed.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.34 no.12
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• pp.77-84
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• 2018

Biomimicry architecture has been highlighted in recent years for the innovative ideas from the nature have provided main developments in many areas. The related studies in Korean architecture is entering the first step and are needed close attentions for its vitalizations. This study starts with the acknowledgement of necessity to establish the architectural application process. First of all, it is named as a 'Passive Cycle' if a problem-solving or a project has been through the analysis of process complexity and biomimicry application process in other areas. Then, the basic frame is structured as a 'Process-Cooperation,' which integrates process complexation with process circulation. The cooperative relationship starts from the beginning of the design with not only professionalists related with architecture but also ones in various areas when it is issued a difficult problem or high environmental performance not found in common architectural design processes. To make the architectural application good progress, the characteristics of bio-mimetic architectural applications are categorized as three areas; the expected effect, the application level, and application method. As a result, the organic complexity should be prioritized to have bio-mimetic application effectively while accessing the principles. Therefore, the process for the architectural application of biomimicry is suggested as 'Organic Cycle-Cooperation.'

• Journal of Biomedical Engineering Research
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• v.38 no.5
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• pp.242-247
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• 2017

This study presents a bio-chemical energy harvesting system which can generate electric power from bioorganic substance contained in vermicompost. It produced electricity by inoculating microbial fuel cell(MFC) with earthworm-composted food waste. The generated electricity was converted into usable voltage level for mobile electronics through power conditioning circuits. The implemented prototype showed $200{\mu}W$ of maximum output electric power, which successfully supplied a beacon device which continuously transmitted data to nearby smartphone without a battery. The proposed system can help develop portable or bio-mimetic energy supply for sustainable use with further improvement.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.11a
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• pp.159-162
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• 2007

The inverse kinematics problem in robotics is an essential work for grasping and manipulation tasks by robotic and humanoid hands. In this paper, an intelligent neural learning scheme for solving such inverse kinematics of humanoid fingers is presented. Specifically, a multi-layered neural network is utilized for effective inverse kinematics, where a dynamic neural learning algorithm is employed. 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.

• BMB Reports
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• v.38 no.3
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• pp.290-293
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• 2005

In order to investigate the epitope of basic fibroblast growth factor (bFGF) and its immunogenicity, the epitopes of bFGF were screened from the phage display library with monoclonal antibody GF22, which can neutralize the bio-activity of bFGF. By three rounds of screening, the positive phage clones with bFGF epitopes were selected, which can effectively block the bFGF to bind with GF22. Sequence analysis showed that the epitopes shared a highly conservative sequence (Leu-Pro-Pro/Leu-Gly-His-Phe/Ile-Lys). The sequence of PPGHFK was located at 22-27 of the bFGF. The specific immuno-response of mouse could be highly induced by phage clones with the epitopes. And the anti-bFGF activity induced by LPGHFK was 3 times higher than the original sequence, which showed that the mimetic peptide LPLGHIK might be used as a tumor vaccine in the prevention and treatment of tumor.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1227-1233
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• 2011

Cellulose Electro-Active Paper (EAPap) has been known as a new smart material that is attractive for a bio-mimetic actuator due to its merits in terms of lightweight, dry condition, large displacement output, low actuation voltage and low power consumption. Cellulose EAPap is made by regenerating cellulose and aligning its micro-fibrils. This paper introduces several EAPap materials, which are based on natural cellulose and its hybrid nanocomposites mixed/blended with inorganic functional materials. By chemically bonding and mixing with carbon nanotubes and inorganic nanoparticles, the cellulose EAPap can be a hybrid nanocomposite that has versatile properties and can meet material requirements for many applications. Recent research trend of the cellulose EAPap is introduced in terms of material preparations as well as application devices including actuators, temperature and humidity sensors, biosensors, chemical sensors, and so on. This paper also explains wirelessly driving technology for the cellulose EAPap, which is attractive for bio-mimetic robotics, surveillance and micro-aerial vehicles.

• Journal of Adhesion and Interface
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• v.20 no.3
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• pp.110-115
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• 2019

Graphene oxide has been gathering interests as a way to exfoliate graphene. Since the oxidation group of graphene oxide can hydrogen bond with various functional groups, tremendous efforts have been actively conducted to apply various applications. However, graphene oxide alone cannot substantially possess the mechanical properties required for the practical application. Therefore, in this study, polydopamine, which is a bio-mimetic mussel protein-inspired material, was combined with graphene oxide to form a large-area composite membrane at the liquid-gas interface. In addition, the morphology of the polydopamine-graphene oxide composite thin film was also controlled to obtain a composite membrane having a nano-wrinkle structure. It can be expected to be used in the next generation seawater desalination membranes or carbon composites because it can form mechanically superior and sophisticated nanostructures.

• Journal of Microbiology and Biotechnology
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• v.16 no.9
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• pp.1429-1433
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• 2006

Application of recombinant protein production and particularly their isotopic enrichment has stimulated development of a range of novel multidimensional heteronuclear NMR techniques. Peptides in most cases are amenable to assignment and structure determination without the need for isotopic labeling. However, there are many cases where the availability of $^{15}N$ and/or $^{13}C$ labeled peptides is useful to study the structure of peptides with more than 30 residues and the interaction between peptides and membrane. CRAMP (Cathelicidin-Related AntiMicrobial Peptide) was identified from a cDNA clone derived from mouse femoral marrow cells as a member of cathelicidin-derived antimicrobial peptides. CRAMP was successfully expressed as a GST-fused form in E. coli and purified using affinity chromatography and reverse-phase chromatography. The yield of the CRAMP was 1.5 mg/l 1. According to CD spectra, CRAMP adopted ${\alpha}$-helical conformation in membrane-mimetic environments. Isotope labeling of CRAMP is expected to make it possible to study the structure and dynamic properties of CRAMP in various membrane systems.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1271-1279
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• 2004

A new bio-mimetic actuator is proposed. The actuator realizes bidirectional actuation since it is with a stretched film antagonistically configured with compliant electrodes. Also, it is distinguished from existing actuators with respect to the controllability of its compliance. Bidirectional actuation and compliance controllability are important characteristics for the artificial muscle actuator and the proposed one accomplishes these requirements without any mechanical substitute or complicated algorithms. In this paper its basic concepts and working principles are introduced with static and dynamic analysis. Control strategies for displacement as well as stiffness are introduced and experimental results are given to confirm the effectiveness of the proposed methods. In addition, an example of robotic actuating devices is given to confirm the usefulness of the proposed actuator.