• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.139-140
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.1271-1272
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• 2010

• 한국지능시스템학회논문지
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• 제20권4호
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• pp.509-515
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• 2010

부산과 경남의 경우 해안가뿐 만 아니라 습지 지역과 지역을 통과하는 낙동강의 넓은 남해안 벨트 등 다양한 형태의 환경으로 둘러싸여있다. 이러한 다양한 형태의 부정형 지역에서 활동할 수 있는 로봇의 이동 플랫폼이 요구되고 있다. 하지만 이러한 지형에 바퀴가 달린 감시로봇을 사용한다면 모래나 습지표면에 바퀴가 빠져 움직일 수 없다. 또한, 관절 로봇은 속도가 느리고 몸체가 움직일 때마다 기울어져 넘어질 수 있다. 따라서 본 연구에서는 모래 위, 습지에서 효과적으로 보행할 수 있는 메커니즘을 개발하는 것이다. 개발한 생물체 로봇에 카메라, 적외선 센서 등을 장착하고, 이 센서들을 이용하여 소프트 컴퓨팅 알고리즘을 이용하여 주위 환경에 반응하도록 한다. 또한 블루투스 통신 모듈을 장착하여 외부와 통신하며 외부의 명령에 순응하는 행동을 할 수 있게 한다. 본 연구의 최종 목표는 습지, 모래, 물 위에서 가장 적합하게 작동할 수 있는 생물체를 로봇으로 구현하고, 게 로봇에 부착된 카메라 정보를 통해 필요부분을 감시할 수 있으며, 컴퓨터에 전송된 화면을 보고 사용자가 로봇을 제어 할 수 있는 지능형 로봇을 제작하는 것이다.

• Journal of Communications and Networks
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• 제17권5호
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• pp.506-516
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• 2015

Wireless sensor networks (WSNs) are generally comprised of densely deployed sensor nodes, which results in highly redundant sensor data transmissions and energy waste. Since the sensor nodes depend on batteries for energy, previous studies have focused on designing energy-efficient medium access control (MAC) protocols to extend the network lifetime. However, the energy-efficient protocols induce an extra end-to-end delay, and therefore recent increase in focus on WSNs has led to timely and reliable communication protocols for mission-critical applications. In this paper, we propose an energy efficient and delay guaranteeing node scheduling scheme inspired by biological systems, which have gained considerable attention as a computing and problem solving technique.With the identification of analogies between cellular signaling systems and WSN systems, we formulate a new mathematical model that considers the networking challenges of WSNs. The proposed bio-inspired algorithm determines the state of the sensor node, as required by each application and as determined by the local environmental conditions and the states of the adjacent nodes. A control analysis shows that the proposed bio-inspired scheme guarantees the system stability by controlling the parameters of each node. Simulation results also indicate that the proposed scheme provides significant energy savings, as well as reliable delay guarantees by controlling the states of the sensor nodes.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권3호
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• pp.1477-1491
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• 2017

Inspired by the multi-scale nature of hippocampal place cells, a biologically inspired model based on a multi-scale spatial representation for goal-directed navigation is proposed in order to achieve robotic spatial cognition and autonomous navigation. First, a map of the place cells is constructed in different scales, which is used for encoding the spatial environment. Then, the firing rate of the place cells in each layer is calculated by the Gaussian function as the input of the Q-learning process. The robot decides on its next direction for movement through several candidate actions according to the rules of action selection. After several training trials, the robot can accumulate experiential knowledge and thus learn an appropriate navigation policy to find its goal. The results in simulation show that, in contrast to the other two methods(G-Q, S-Q), the multi-scale model presented in this paper is not only in line with the multi-scale nature of place cells, but also has a faster learning potential to find the optimized path to the goal. Additionally, this method also has a good ability to complete the goal-directed navigation task in large space and in the environments with obstacles.

• 한국지능시스템학회논문지
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• 제21권2호
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• pp.159-164
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• 2011

본 연구에서는 4절 링크 이론(four-bar linkage mechanism)과 얀센 메커니즘(Jansen mechanism)을 기반으로 다관절 보행 로봇(multi-legged walking robot)인 게(crab) 로봇을 제작하고, 게 로봇의 움직임에 대하여 기구학적인 해석을 제시한다. 제작된 게 로봇은 영상 획득을 위하여 카메라를 장착하였고, 장애물 회피를 위하여 3조의 초음파 센서를 가지고 있다. 또한 RF통신으로 외부에 영상 정보를 전달하며, Blue-tooth 통신 모듈을 장착하여 외부로부터 부여된 임무를 수행할 수 있다. 게 로봇의 설계와 제작을 하기 위해서 필요로 하는, 로봇 다리의 움직임을 알기 위해서는 관절 변수와 다리 끝단의 위치 및 자세와의 관계를 얻어야 한다. 따라서, 제안된 기구학적 해석은 로봇의 설계와 제작에 있어서 많은 도움을 주며 중요한 과정이다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.297-298
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• 2011

• Structural Monitoring and Maintenance
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• 제5권3호
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• pp.325-343
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• 2018

This study aims to propose a performance-based design method of a novel passive base isolation system, BIO isolation system, which is inspired by an energy dissipation mechanism called 'sacrificial bonds and hidden length'. Fragility functions utilized in this study are derived, indicating the probability that a component, element, or system will be damaged as a function of a single predictive demand parameter. Based on PEER framework methodology for Performance-Based Earthquake Engineering (PBEE), a systematic design procedure using performance and fragility objectives is presented. Base displacement, superstructure absolute acceleration and story drift ratio are selected as engineering demand parameters. The new design method is then performed on a general two degree-of-freedom (2DOF) structure model and the optimal design under different seismic intensities is obtained through numerical analysis. Seismic performances of the biologically inspired (BIO) isolation system are compared with that of the linear isolation system. To further demonstrate the feasibility and effectiveness of this method, the BIO isolation system of a 4-storey reinforced concrete building is designed and investigated. The newly designed BIO isolators effectively decrease the superstructure responses and base displacement under selected earthquake excitations, showing good seismic performance.

• 한국군사과학기술학회지
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• 제12권5호
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• pp.563-570
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• 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.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제4권1호
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• pp.7-11
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• 2004

This paper proposes a new immunotronic approach for the fault detection in hardware. The suggested method is, inspired by biology and its implementation is based on genetic algorithm. Tolerance conditions in the immunotronic system for fault detection correspond to the antibodies in the biological immune system. A novel algorithm of generating tolerance conditions is suggested based on the principle of the antibody diversity and GA optimization is employed to select mature tolerance conditions in immunotronic fault detection system. The suggested method is applied to the fault detection for MCNC benchmark FSMs (finite state machines) and its effectiveness is demonstrated by the computer simulation.