• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.12
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• pp.1179-1183
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• 2007

Electro-Active paper(EAPap) is a new smart material that has a potential to be used in biomimetic actuator and sensor. It is made by cellulose that is abundant material in nature. EAPap is fascinating with its biodegradability, lightweight, large displacement, high mechanical strength and low actuation voltage. Actuating mechanism of EAPap is known to be the combined effects of ion migration and piezoelectricity. However, the electromechanical actuation mechanisms are not yet to be established. This paper presents the modeling of the actuation behavior of water infused cellulose samples and their composite dielectric constants calculated by Maxwell-Wagner theory. Electro-mechanical forces were calculated using Maxwell stress tensor method. Bending deflection was evaluated from simple beam model and compared with experimental observation, and which result in good correlation with each other.

• Restorative Dentistry and Endodontics
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• v.41 no.2
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• pp.143-147
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• 2016

The reconstruction of structurally compromised posterior teeth is a rather challenging procedure. The tendency of endodontically treated teeth (ETT) to fracture is considerably higher than vital teeth. Although posts and core build-ups followed by conventional crowns have been generally employed for the purpose of reconstruction, this procedure entails sacrificing a considerable amount of residual sound enamel and dentin. This has drawn the attention of researchers to fibre reinforcement. Fibrereinforced composite (FRC), designed to replace dentin, enables the biomimetic restoration of teeth. Besides improving the strength of the restoration, the incorporation of glass fibres into composite resins leads to favorable fracture patterns because the fibre layer acts as a stress breaker and stops crack propagation. The following case report presents a technique for reinforcing a badly broken-down ETT with biomimetic materials and FRC. The proper utilization of FRC in structurally compromised teeth can be considered to be an economical and practical measure that may obviate the use of extensive prosthetic treatment.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.63-71
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• 2018

This paper describes a study on posture control of the multi-legged biomimetic underwater robot (CALEB10). Because the underwater environment has a feature that all degrees of freedom are coupled to each other, we designed the posture control algorithm by separating each degree of freedom. Not only should the research on posture control of underwater robots be a precedent study for position control, but it is also necessary to compensate disturbance in each direction. In the research on the yaw directional posture control, we made the drag force generated by the stroke of the left leg and the right leg occur asymmetrically, in order that a rotational moment is generated along the yaw direction. In the composite swimming controller in which the controllers in each direction are combined, we designed the algorithm to determine the control weights in each direction according to the error angle along the yaw direction. The performance of the proposed posture control method is verified by a dynamical simulator and underwater experiments.

• Proceedings of the Korean Society For Composite Materials Conference
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• 1999.11a
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• pp.234-238
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• 1999

This study suggests the design of the functionally gradient composite, [0/90/0/core]$_s$ cross-ply laminate, to prevent stress concentration induced from the difference of rigidity between the bone and the artificial hip joint and to reinforce the wear property of the surface and the expectation of their mechanical properties. First, the four-point bending test is done about wet bones and dry bones to know the mechanical properties of the cortical bones. In result, the wet bone shows the viscoelastic behavior and the dry bone shows the elastic behavior. Moreover, we expect the properties of the proposed gradient composites as a function of carbon fiber volume fraction in each layer to apply Halpin-Tsai equation, CLPT(classical laminate plate theory), and Bernoulli beam theory etc. and decide the thickness ratio of each lamina in order to match Young's modulus of the anisotropic cortical bone with the proposed gradient composites.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.360-363
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• 2005

Biomimetic actuators composed of cellophane with an electrically conducting polyaniline(PANI) film have been fabricated and tested in air ambience conditions doped with two different counter ions such as perchlorate (${ClO_4}^-$) and tetrafluoroborate (${BF_4}^-$). Fabrication of the trilayer CP//CELLOPHANE//CP substantially enhanced the tip displacement (13.2mm) compared to the small displacement (8.3mm) of the bilaye. CP//CELLOPHANE. The ion migration among layers is the main factor behind the expansion of cellophane, while the expansion/contraction of PANI are dependent on the redox reaction of the polymer. The displacement of the composite is dominated by the humidity content. This implies that the actuation principle is possibly due to the assistance of water existing.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1558-1562
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• 2008

Ionic polymer metal composite (IPMC), one of Electro- Active Polymer (EAP) actuators, has great attention due to the low-voltage driven, large deformation and its potential for artificial muscles. In this paper, we firstly review fish swimming modes using various propulsion mechanisms. Based on study on the swimming mechanisms, we develop an underwater robot actuator which mimics fanning motion of webfoot form. It consists of four actuators fabricated by using IPMC and PDMS which mimics Bio-inspired motion Experiments using a prototype show that the webfooted IPMC actuator generates large deformation and propulsion.

• Restorative Dentistry and Endodontics
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• v.37 no.1
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• pp.2-8
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• 2012

The limited durability of resin-dentin bonds severely compromises the longevity of composite resin restorations. Resin-dentin bond degradation might occur via degradation of water-rich and resin sparse collagen matrices by host-derived matrix metalloproteinases (MMPs). This review article provides overview of current knowledge of the role of MMPs in dentin matrix degradation and four experimental strategies for extending the longevity of resin-dentin bonds. They include: (1) the use of broadspectrum inhibitors of MMPs, (2) the use of cross-linking agents for silencing the activities of MMPs, (3) ethanol wet-bonding with hydrophobic resin, (4) biomimetic remineralization of water-filled collagen matrix. A combination of these strategies will be able to overcome the limitations in resin-dentin adhesion.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.1 s.256
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• pp.36-42
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• 2007

This paper presents mechanical design, fabrication and test of a biomimetic fish robot actuated by a unimorph piezoceramic actuator, LIPCA(Lightweight Piezo-Composite curved Actuator.) We have designed a linkage mechanism that can convert bending motion of the LIPCA into the caudal fin movement. This linkage system consists of a rack-pinion system and four-bar linkage. Four types of artificial caudal fins that resemble caudal fin shapes of ostraciiform subcarangiform, carangiform, and thunniform fish, respectively, are attached to the posterior part of the robotic fish. The swimming test under 300 $V_{pp}$ input with 0.6 Hz to 1.2 Hz frequency was conducted to investigate effect of tail beat frequency and shape of caudal fin on the swimming speed of the robotic fish. At the frequency of 0.9 Hz, the maximum swimming speeds of 1.632 cm/s, 1.776 cm/s, 1.612 cm/s and 1.51 cm/s were reached for fish robots with ostraciiform, subcarangiform carangiform and thunniform caudal fins, respectively. The Strouhal number, which means the ratio between unsteady force and inertia force, or a measure of thrust efficiency, was calculated in order to examine thrust performance of the present biomimetic fish robot. The calculated Strouhal numbers show that the present robotic fish does not fall into the performance range of a fast swimming robot.

• Journal of the Korean Ceramic Society
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• v.49 no.4
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• pp.369-374
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• 2012

Based on the structure feature of a tree, a cylindrical $Ti_2AlC$/graphite layered composite has been fabricated through heat treating a graphite column and six close-matched thin wall $Ti_2AlC$ cylinders bonded with the $Ti_2AlC$ powders at $1300^{\circ}C$ and low oxygen partial pressure. SEM examination reveals that the bond interlayers between cylinders or that between cylinder and column are not fully dense without any crack formation. During the compressive test, the strain of the $Ti_2AlC$/graphite layered composite is about twice higher than that of the monolithic $Ti_2AlC$ ceramic, and the compressive strength of the layered composite is 348 MPa. The layered composite show the noncatastrophic fracture behaviors due to the debonding and shelling off of the layers, which are different from the monolithic $Ti_2AlC$ ceramic. The mechanism of the improved deformation capacity and noncatastrophic failure modes are attributed to the presence of the central soft graphite column and cracks deflection by the bond interlayers.

• Composites Research
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• v.28 no.2
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• pp.52-57
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• 2015

Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.