• Journal of Internet Computing and Services
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• v.17 no.5
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• pp.17-23
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• 2016

Wireless sensor-actuator networks (WSANs) enhance the existing wireless sensor networks (WSNs) by equipping sensor nodes with an actuator. The actuators work with the sensor nodes and perform application-specific operations. The WSAN systems have several applications such as disaster relief, intelligent building, military surveillance, health monitoring, and infrastructure security. These applications require capability of reliable data transfer to act responsively and accurately. Biologically inspired modeling techniques have received considerable attention for achieving robustness, scalability, and adaptability, while retaining individual simplicity. In this paper, an epidemic-inspired algorithm for data dissemination with delay constraints while minimizing energy consumption in WSAN is proposed. The steady states and system stability are analyzed using control theory. Also, simulation results indicate that the proposed scheme provides desirable dissemination delay and energy saving.

• Biomaterials and Biomechanics in Bioengineering
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• v.2 no.4
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• pp.249-269
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• 2015

A problem faced by oil companies is the maintenance of the location register of pipelines that cross the surf zone, the regular survey of their location, and also their inspection. A survey of the state of art did not allow identifying operating systems capable of executing such tasks. Commercial technologies available on the market also do not address this problem and/or do not satisfy the presented requirements. A possible solution is to use robotic systems which have the ability to walk on the shore and in the surf zone, subject to existing currents and ripples, and being able to withstand these ambient conditions. In this sense, the authors propose the development of a spider crab biologically inspired robot to achieve those tasks. Based on these ideas, this work presents a biomechanical study of the spider crab, its modeling and simulation using the SimMechanics toolbox of Matlab/Simulink, which is the first phase of this more vast project. Results show a robot model that is moving in an "animal like" manner, the locomotion, the algorithm presented in this paper allows the crab to walk sideways, in the desired direction.

• Journal of Korea Foundry Society
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• v.34 no.3
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• pp.107-111
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• 2014

Permeability is the ability of a material to transmit fluid/gases. It is an important material property and it depends on mould parameters such as grain fineness number, clay, moisture, mulling time, and hardness. Modeling the relationships among these variable and interactions by mathematical models is complex. Hence a biologically inspired artificial neural-network technique with a back-propagation-learning algorithm was developed to estimate the permeability of green sand. The developed model was used to perform a sensitivity analysis to estimate permeability. The individual as well as the combined influence of mould parameters on permeability were simulated. The model was able to describe the complex relationships in the system. The optimum process window for maximum permeability was obtained as 8.75-10.5% clay and 3.9-9.5% moisture. The developed model is very useful in understanding various interactions between inputs and their effects on permeability.

• Journal of Sensor Science and Technology
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• v.14 no.6
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• pp.430-437
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• 2005

In this paper, we proposed a biologically inspired light-adaptive edge detection circuit based on the human retina. A saturating resistive network was suggested for light adaptation and simulated by using HSPICE. The light adaptation mechanism of the edge detection circuit was quantitatively analyzed by using a simple model of the saturating resistive element. A light-adaptive capability of the edge detection circuit was confirmed by using the one-dimensional array of the 128 pixels with various levels of input light intensity. Experimental data of the saturating resistive element was compared with the simulated results. The entire capability of the edge detection circuit, implemented with the saturating resistive network, was investigated through the two-dimensional array of the $64{\times}64$ pixels

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.6
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• pp.606-611
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• 2014

The understanding of another's behavior is a fundamental cognitive ability for primates including humans. Recent neuro-physiological studies suggested that there is a direct matching algorithm from visual observation onto an individual's own motor repertories for interpreting cognitive ability. The mirror neurons are known as core regions and are handled as a functionality of intent recognition on the basis of imitative learning of an observed action which is acquired from visual-information of a goal-directed action. In this paper, we addressed previous works used to model the function and mechanisms of mirror neurons and proposed a computational model of a mirror neuron system which can be used in human-robot interaction environments. The major focus of the computation model is the reproduction of an individual's motor repertory with different embodiments. The model's aim is the design of a continuous process which combines sensory evidence, prior task knowledge and a goal-directed matching of action observation and execution. We also propose a biologically inspired plausible equation model.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.495-495
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• 2011

Miniaturized sensors capable of both sensitive and selective real-time monitoring of target analytes are tremendously valuable for various applications ranging from hazard detection to medical diagnostics. The wide-spread use of such sensors is currently limited due to insufficient selectivity for target molecules. We developed selective nanocoatings by combining trinitrotoluene (TNT) receptors bound to conjugated polydiacetylene (PDA) with single-walled carbon nanotube-field effect transistors (SWNT-FET). Selective binding events between TNT molecules and phage display derived TNT receptors were effectively transduced to sensitive SWNT-FET conductance sensors through the PDA coating. The resulting sensors exhibited unprecedented 1 fM sensitivity toward TNT in real time, with excellent selectivity over various similar aromatic compounds. Our biomimetic receptor coating approach may be useful for the development of sensitive and selective micro and nanoelectronic sensor devices for various other target analytes.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.2
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• pp.127-134
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• 2004

In this paper, human motor behaving model based sensory motor coordination(SMC) algorithm is implemented on robotic grasping task. Compare to conventional SMC models which connect sensor to motor directly, the proposed method used biologically inspired human behaving system in conjunction with SMC algorithm for fast grasping force control of robot arm. To characterize various grasping objects, pressure sensors on hand gripper were used. Measured sensory data are simultaneously transferred to perceptual mechanism(PM) and long term memory(LTM), and then the sensory information is forwarded to the fastest channel among several information-processing flows in human motor system. In this model, two motor learning routes are proposed. One of the route uses PM and the other uses short term memory(STM) and LTM structure. Through motor learning procedure, successful information is transferred from STM to LTM. Also, LTM data are used for next moor plan as reference information. STM is designed to single layered perception neural network to generate fast motor plan and receive required data which comes from LTM. Experimental results showed that proposed method can control of the grasping force adaptable to various shapes and types of greasing objects, and also it showed quicker grasping-behavior lumining time compare to simple feedback system.

• Journal of Electrical Engineering and Technology
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• v.7 no.2
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• pp.245-254
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• 2012

In this study, we introduce a prototype-based classifier with feature selection that dwells upon the usage of a biologically inspired optimization technique of Particle Swarm Optimization (PSO). The design comprises two main phases. In the first phase, PSO selects P % of patterns to be treated as prototypes of c classes. During the second phase, the PSO is instrumental in the formation of a core set of features that constitute a collection of the most meaningful and highly discriminative coordinates of the original feature space. The proposed scheme of feature selection is developed in the wrapper mode with the performance evaluated with the aid of the nearest prototype classifier. The study offers a complete algorithmic framework and demonstrates the effectiveness (quality of solution) and efficiency (computing cost) of the approach when applied to a collection of selected data sets. We also include a comparative study which involves the usage of genetic algorithms (GAs). Numerical experiments show that a suitable selection of prototypes and a substantial reduction of the feature space could be accomplished and the classifier formed in this manner becomes characterized by low classification error. In addition, the advantage of the PSO is quantified in detail by running a number of experiments using Machine Learning datasets.

• Advances in robotics research
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• v.1 no.1
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• pp.101-126
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• 2014

In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions are achieved by a phase switching network (PSN) module. The combination of these modules generates various locomotion patterns and a reactive obstacle avoidance behavior. The behavior is driven by sensor inputs, to which additional neural preprocessing networks are applied. The complete neural circuitry is developed and tested using a physics simulation environment. This study verifies that the neural modules can serve a general purpose regardless of the robot's specific embodiment. We also believe that our neural modules can be important components for locomotion generation in other complex robotic systems or they can serve as useful modules for other module-based neural control applications.

• The KIPS Transactions:PartB
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• v.15B no.5
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• pp.477-486
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• 2008

Facial expression, which changes face geometry, usually has an adverse effect on the performance of a face recognition system. To improve the face recognition rate, we propose a normalization method of facial expression to diminish the difference of facial expression between probe and gallery faces. Two approaches are used to facial expression modeling and normalization from single still images using a generic facial muscle model without the need of large image databases. The first approach estimates the geometry parameters of linear muscle models to obtain a biologically inspired model of the facial expression which may be changed intuitively afterwards. The second approach uses RBF(Radial Basis Function) based interpolation and warping to normalize the facial muscle model as unexpressed face according to the given expression. As a preprocessing stage for face recognition, these approach could achieve significantly higher recognition rates than in the un-normalized case based on the eigenface approach, local binary patterns and a grey-scale correlation measure.