• 대한기계학회논문집B
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• 제30권9호
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• pp.866-872
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• 2006

A numerical study on the propulsive characteristics of a biomimetic foil is done by developing an unsteady linearly-varying strength vortex method. A biomimetic foil is represented as a deforming foil with a tail fin. Present method is verified by comparing the simulated results with results using finite element and finite volume methods. A new boundary condition is imposed by considering the relative rotational velocity, which has not been included in the previous published literature. It is found that the undulation amplitude increases the thrust while maximum thickness is stepping down the thrust. It is also shown that there exists an optimal frequency for maximum thrust generation. It is believed that present results can be used in the investigation of the propulsive characteristics of the biomimetic deforming foil.

• 제어로봇시스템학회논문지
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• 제9권6호
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• pp.456-465
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• 2003

It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2654-2659
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• 2003

In this paper, we present biomimetic hopping strategy which is more human-like for legged robot through stiffness modulation. Stiffness value is calculated from the motion of body center of gravity. This method enable to reduce impact force on touch-down, adaption on ground stiffness change and height modulation. Simple selected models will be used to validate this method. For general model, singular perturbation is used for control and simulation using stiffness modulation is presented.

• 한국의류학회지
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• 제46권5호
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• pp.927-943
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• 2022

This study explores the organic form generation method, which reflects the evolving biomimetic approaches converging in fashion technology and considers the characteristics of the organic relationship between the body and the clothing to be represented in contemporary fashion. A literature review on biomimetic architecture and design-related theory and a case study on biomimetic fashion were both conducted. Images, articles, and data related to biomimicry fashion and clothing, including the increase in virtual fashion cases around 2020, were analyzed based on the literature review. Biomimicry was used to derive interdisciplinary similarities in the organic morphogenesis principle, and the result was categorized as a network system, folds and unfolds, pneumatic structures, auxetic growth, and membranes. The biomimetic fashion characteristics, including externalization of the body's interior, expansion of the body structure and silhouette, body protection, independence from the body, and post-human expression through virtualization, were analyzed. Morphogenetic processes performed through biomimetic vision are expected to aid in generating research on the possibility of mass production or popularization in the future through various experimental technical studies.

• 한국정밀공학회지
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• 제29권11호
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• pp.1245-1255
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• 2012

Effective elastic constants of biomimetic multilayer structures with hierarchical structures are evaluated based on the potential energy balance method. The effective anisotropic elastic constants are used in analyzing low-velocity impact of biomimetic multilayer structures consisting of mineral and protein. It is shown that displacements of biomimetic multilayer structures strongly depend on the volume fraction of mineral and hierarchical level. The effect of the volume fraction of mineral and hierarchical level on the contact force and stresses at the impact point are also discussed.

• 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.

• 한국정밀공학회지
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• 제29권3호
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• pp.302-306
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• 2012

Bacterial cellulose based actuator with large displacement was developed for biomimetic robots. Bacterial cellulose has 3D nanostructure with high porosity which was composed of the nanofibers. Freeze dried bacterial cellulose was dipped into ionic liquid solution such as 1-butyl-3-methylimidazolium(BMIMCl) to enhance the actuation performance due to increase the ionexchange capacity and ionic conductivity. And Poly(3,4-ethylenedioxythiophene)-poly (styrnenesulfonate)(PEDOT:PSS) was used for the electrodes of both side of bacterial cellulose actuator by dipping and drying method. The FT-IR and XRD were conducted to examine the electrochemical changes of developed bacterial cellulose actuator. The biomimetic caudal fin was designed using bacterial cellulose actuator and PDMS to verify the possibility for biomimetic robot. The step and harmonic response were conducted to evaluate the performance of developed biomimetic actuator.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.175-180
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• 2012

A nonlinear navigation filter for biomimetic robot using analytic approximation of mean and covariance of state variable is proposed. The approximations are performed at the time update step in the filter structure. The mean is approximated to the 3rd order of Taylor's series expansion of true mean and the covariance is approximated to the 3rd order either. The famous EKF is a nonlinear filtering method approximating the mean to 1st order and the covariance to the 3rd order. The UKF approximate them to the higher orders by numerical method. The proposed method derived a analytical approximation of them for navigation system and therefore don't need so called sigma point transformation in UKF. The simulation results show that the proposed method can be a good alternative of UKF in the systems which require less computational burden.

• 한국음향학회지
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• 제41권2호
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• pp.227-234
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• 2022

은밀 수중 통신은 수중에서 신호를 전송할 때 다른 대상이 감지하지 못하도록 보내는 통신 방법이다. 수중에서 정보를 은밀하게 보내는 방법은 Radio Frequency(RF)에서 사용되는 방법과 유사하게 Low Probability of Detection(LPD)와 Low Probability of Intercept(LPI)의 특성을 고려하여 설계된다. 그러나 수중에서 음향을 이용하여 통신하는 경우 협소한 주파수 대역폭으로 인해 은밀성을 확보하기 어렵다. 기존의 신호 전송 전력을 낮추거나 변조 대역폭을 늘리는 방법과는 다르게 수중 포유류의 음향 신호를 모방하여 신호를 보내는 방법이 연구되고 있다. 생체모방 은밀 수중향통신은 주로 돌고래나 고래가 발생시키는 클릭음이나 휘슬음을 모방한다. 본 논문은 이러한 생체모방 은밀 수중음향통신의 발전 가능성과 향후 필요한 연구 분야를 파악하기 위해 생체모방 통신 기술들을 조사하고 이에 따른 연구 동향을 소개한다.

• Computers and Concrete
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• 제23권5호
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• pp.351-359
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• 2019

In this study, the calcium hydroxide, an inherent product of cement hydration, was treated using biomimetic carbonation method of incorporating stearic acid to generate the hydrophobic calcium carbonate on concrete surface. Carbonation reaction was carried out at various $CO_2$ pressure and temperatures and utilizing the Scanning Electron Microscope (SEM), chloride-ion penetration test apparatus, and compression test machine to investigate the hydrophobicity, durability, and mechanical properties of the synthesized products. Experimental results indicate that the calcium stearate may change the surface property of concrete from hydrophilicity to hydrophobicity. Increasing reaction temperature can change the particles from irregular shapes to needle-rod structures with increased shear stress and thus favorable to hydrophobicity and microhardness. The contact angle against water for the concrete surface was found to increase with increasing $CO_2$ pressure and temperature, and reached to an optimum value at around $90^{\circ}C$. The maximum static water contact angle of 128.7 degree was obtained at the $CO_2$ pressure of 2 atm and temperature of $90^{\circ}C$. It was also found that biomimetic carbonation increased the permeability, acid resistance and chloride-ion permeability of the concrete material. These unique results demonstrate that the needle-rod structures of $CaCO_3$ synthetized on concrete surface could enhance hydrophobicity, durability, and mechanical properties of concrete.