• 한국산학기술학회논문지
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• 제21권4호
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• pp.356-361
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• 2020

소형의 다리형 주행 로봇은 몸체의 크기 대비 바퀴주행보다 높은 장애물을 극복할 수 있다는 장점이 있다. 이러한 이점을 활용하여 다양한 형태의 다리 주행 소형 로봇이 개발되었다. 본 논문에서는 기존의 단면 주행을 넘어 양면 주행이 가능한 12족 생체모사 크롤링 로봇을 제안한다. 주행 로봇은 험지 주행 시에 전복되거나 자세가 흐트러지는 경우가 자주 발생한다. 12족 양면 주행로봇은 전복이 되어도 지체 없이 곧바로 주행이 계속 가능하다. 양면 주행을 위한 핵심 메커니즘은 구동부를 공유하는 것이다. 몸체부의 중간에 위치한 힘 전달 구조가 위와 아래에 위치한 모든 다리로 움직임을 전달한다. 이와 같이, 유사한 기능을 수행하는 구조물을 통합하여 구조의 간소화와 경량화를 달성하였다. 또한, 무게를 줄이기 위하여 종이 기반의 복합재를 사용하여 32g의 경량 설계를 수행하였다. 로봇의 성능을 평가하기 위해, 윗면과 아랫면 모두에 대해 주행 테스트를 실시하였다. 그 결과 윗면으로 주행 시 0.52m/s, 아랫면으로 주행 시 0.42m/s의 속력을 보여주어, 양면 모두 성공적인 주행이 가능함을 확인하였다.

• 로봇학회논문지
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• 제8권2호
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• pp.136-142
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• 2013

In nature, many small insects are using jumping as a survival strategy. Among them, fleas jump in a unique method. They use an elastomer, 'Resilin', an extensor muscle and a trigger muscle. By contracting the extensor muscle, the elastic energy, that makes a flea to jump, is stored in the resilin. After storing energy, the trigger muscle begins contracting and pulling the extensor muscle. When the extensor muscle crosses the rotational joint, direction of torque generated from the extensor muscle reverses, 'torque reversal mechanism'. Simultaneously, the elastic energy stored in the resilin releases rapidly and is converted into the kinetic energy. It makes a flea to jump 150 times its body length. In this paper, miniaturized jumping robot using flea-inspired catapult mechanism is presented. This mechanism is based on the 4-bar linkage and the reversal joint and is actuated by Shape Memory Alloy (SMA) coiled springs describing the flea's muscle. The robot prototype is fabricated by SCM process using glass fiber prepregs and a sheet of polyimide film. The prototype is 20mm link length, 34mm width and 2.0g weight and can jump 103cm.

• Bulletin of the Korean Chemical Society
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• 제33권6호
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• pp.1845-1850
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• 2012

Layered metal hydroxides (LMHs) containing calcium were synthesized by coprecipitation in solution having two different trivalent metal ions, iron and aluminum. Two mixed metal solutions ($Ca^{2+}/Al^{3+}$ and $Ca^{2+}/Fe^{3+}$ = 2/1) were added to sodium hydroxide solution and the final pH was adjusted to ~11.5 and ~13 for CaAl-and CaFe-LMHs. Powder X-ray diffraction (XRD) for the two LMH samples showed well developed ($00l$) diffractions indicating 2-dimensional crystal structure of the synthesized LMHs. Rietveld refinement of the X-ray diffraction pattern, the local structure analysis through X-ray absorption spectroscopy, and thermal analysis also confirmed that the synthesized precipitates show typical structure of LMHs. The chemical formulae, $Ca_{2.04}Al_1(OH)_6(NO_3){\cdot}5.25H_2O$ and $Ca_{2.01}Fe_1(OH)_6(NO_3){\cdot}4.75H_2O$ were determined by inductively coupled plasma-atomic emission spectroscopy (ICP-AES). Particle morphology and thermal behavior for the synthesized LMHs were examined by field emission scanning electron microscopy and thermogravimetricdifferential scanning calorimetry.

• 접착 및 계면
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• 제20권3호
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• pp.110-115
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• 2019

그래핀으로 박리시키기 위한 한 가지 방법으로 산화그래핀이 많은 관심이 집중되고 있다. 산화그래핀의 산화그룹은 다양한 기능기와 수소결합을 시킬 수 있어 여러 응용분야에 이를 적용시키기 위한 연구가 활발히 진행되고 있다. 하지만 산화그래핀 자체만으로는 실질적으로 응용에 요구되어지는 기계적 물성을 만족시킬 수 없다. 따라서 본 연구에서는 홍합 단백질을 생체모사한 폴리도파민을 이용하여 산화그래핀과 결합시키고 액체-기체 계면에서 대면적의 복합체막을 형성 시켰다. 또한 폴리도파민-산화그래핀 복합체 박막의 모폴로지 구조도 제어하여 나노 링클 구조를 가지는 복합체 막을 얻었다. 기계적으로 우수하며 정교한 나노 구조를 형성할 수 있어 차세대 해수담수화 멤브레인 또는 탄소 복합재료에 이용될 수 있을 것으로 기대될 수 있다.

• 문화기술의 융합
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• 제8권5호
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• pp.749-754
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• 2022

다양한 의료 응용 분야에서 웨어러블 및 피부 부착형 전자 패치에 피부 표면의 높은 접착력과 내수성이 요구된다. 본 연구에서는 탄소 기반 전도성 고분자 복합 소재에 개구리 발바닥의 육각 채널와 문어 빨판의 흡착 구조 패턴을 모사한 신축성 있는 전자 패치를 보고한다. 개구리의 발바닥을 모사한 육각 채널 구조는 수분을 배수하며, 균열억제 효과를 통해 점착력을 향상 시키며, 문어 빨판을 모사한 흡착 구조는 젖은 표면에서 높은 점착력을 나타낸다. 또한 고점착 전자패치는 실리콘(max. 4.06 N/cm²), 피부 복제 표면(max. 1.84 N/cm²) 등 다양한 표면에 건조 및 젖은 조건에서 우수한 접착력을 가지고 있다. 고분자 매트릭스와 탄소 입자를 기반으로한 고분자 복합소재를 통해 제작된 고점착 전자 패치는 건조 및 습한 환경에서 심전도(ECG)을 안정적으로 감지할 수 있다. 이 연구에서 보여진 특성을 기반으로 제안된 전자 패치는 다양한 생체 신호의 진단을 위한 웨어러블 및 피부 부착 센서 디바이스를 구현하는 잠재적 응용 가능성을 제시한다.

• 한국정밀공학회지
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• 제33권7호
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• pp.571-577
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• 2016

In this paper, we propose a novel propulsion method for a Biomimetic underwater robot, which is a bio-inspired approach. The proposed propulsion method mimics the pectoral fins of a real fish. Pectoral fins of real fish are able to propel and change direction. We designed the propulsion mechanism of 1 D.O.F. that has two functions (propel and change direction). We named this propulsion system 'Flipper'. The proposed propulsion method can control forward, pitch and yaw motion using the Flipper. We made an experimental underwater robot system and verified the proposed propulsion method. We measured its maximum speed and turning motion using an experimental underwater robot system. We also analyzed the thrust force from the maximum speed, using the thrust equation. Experimental results showed that our propulsion method enabled the thrust system of the biomimetic robot.

• Advances in nano research
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• 제6권1호
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• pp.81-92
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• 2018

Biosynthesis of nanoparticles has acquired particular attention due to its economic feasibility, low toxicity and simplicity of the process. Extracellular synthesis of nanoparticles by bacteria and fungi has been stated to be brought about by enzymes and other reducing agents that may be secreted in the culture medium. The present study was carried out to determine the underlying mechanisms of extracellular silver nanoparticle synthesis by Pseudomonas hibiscicola isolated from the effluent of an electroplating industry in Mumbai. Synthesized nanoparticles were characterized by spectroscopy and electron microscopic techniques. Protein profiling studies were done using Sodium Dodecyl Sulphate Polyacrylamide Gel Electrophoresis (1D-SDS PAGE) and subjected to identification by Mass Spectrometry. Characterization studies revealed synthesis of 50 nm nanoparticles of well-defined morphology. Total protein content and SDS PAGE analysis revealed a reduction of total protein content in test (nanoparticles solution) samples when compared to controls (broth supernatant). 45.45% of the proteins involved in the process of nanoparticle synthesis were identified to be oxidoreductases and are thought to be involved in either reduction of metal ions or capping of synthesized nanoparticles.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
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• pp.158-163
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• 1998

This paper is our first attempt to construct a information processing system such as the living creatures' brain based on artificial life technique. In this paper, we propose a method of constructing neural networks using bio-inspired emergent and evolutionary concept, Ontogeny of living things is realized by cellular automata model and Phylogeny that is living things adaptation ability themselves to given environment, are realized by evolutionary algorithms. Proposing evolving cellular automata neural systems are calledin a word ECANS. A basic component of ECANS is 'cell' which is modeled on chaotic neuron with complex characteristics, In our system, the states of cell are classified into eight by method of connection neighborhood cells. When a problem is given, ECANS adapt itself to the problem by evolutionary method. For fixed cells transition rule, the structure of neural network is adapted by change of initial cell' arrangement. This initial cell is to become a network b developmental process. The effectiveness and the capability of proposed scheme are verified by applying it to pattern classification and robot control problem.

• Journal of information and communication convergence engineering
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• 제9권5호
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• pp.615-618
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• 2011

Living cells generate the cell cycle or apoptosis, depending on the course will be repeated. If an error occurs during this period of life in order to maintain the cells in the peripheral cells find the error portion. These cellular functions were applied to the system to simulate the circuit. Circuit implementation of the present study was constructed the redundant structure in order to found the error quickly. Self-repairing of digital systems as an advanced form of fault-tolerance has been increasingly receiving attention according as digital systems have been more and more complex and speed-up especially for urgent systems or those working on extreme environments such as deep sea and outer space. Simulating the process of cell differentiation algorithm was confirmed by the FPGA on the counter circuit. If an error occurs on the circuit where the error was quickly locate and repair. In this paper, we propose a novel self-repair architecture for fast and robust fault-recovery that can easily apply to real, complex digital systems. These Self-Repairing Algorithms make it possible for the application digital systems to be alive even though in very noisy and extreme environments.

• Smart Structures and Systems
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• 제17권3호
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• pp.523-539
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• 2016

The ambient vibration measurement is an output-data-only dynamic testing where natural excitations are represented, for instance, by winds and typhoons. The modal identification involving output-only measurements requires the use of specific modal identification techniques. This paper presents the application of a reliable method (the Stochastic Subspace Identification - SSI) implemented in a general purpose software. As a criterion toward the robustness of identified modes, a bio-inspired optimization algorithm, with a highly nonlinear objective function, is introduced in order to find the optimal deployment of a reduced number of sensors across a large civil engineering structure for the validation of its modal identification. The Ting Kau Bridge (TKB), one of the longest cable-stayed bridges situated in Hong Kong, is chosen as a case study. The results show that the proposed method catches eigenvalues and eigenvectors even for a reduced number of sensors, without any significant loss of accuracy.