The demand for energy is steadily rising because of rapid population growth and improvements in living standards. Consequently, extensive research is being conducted worldwide to enhance the energy supply. Transpiration power generation technology utilizes the vast availability of water, which encompasses more than 70% of the Earth's surface, offering the unique advantage of minimal temporal and spatial constraints over other forms of power generation. Various principles are involved in water-based energy harvesting. In this study, we focused on explaining the generation of energy through the streaming potential within the generator component. The generator was fabricated using sugar cubes, PDMS, carbon black, CTAB, and DI water. In addition, a straightforward and rapid manufacturing method for the generator was proposed. The PDMS generator developed in this study exhibits high performance with a voltage of 29.6 mV and a current of 8.29 μA and can generate power for over 40h. This study contributes to the future development of generators that can achieve high performance and long-term power generation.

본 연구에서는 생체모방형 비대칭 분리막 제조방법인 사각펄스양극산화법의 비대칭성 한계를 극복하기 위해 최근 보고된 셀렌산 전해액을 이용하고 표면개질에 따른 정류특성을 평가하였다. 분리막의 비대칭 원뿔형 채널은 최소직경이 10 nm이고 최대직경이 50 nm이며 길이가 5 μm이었다. 분리막의 정류특성은 기존 황산 전해액에서 제작된 것보다 높았으며 +1 V에서의 전류가 -1 V일 때보다 최대 2.9배를 나타내었다. 또한, 실란화 반응을 이용한 표면개질을 통해 술폰산기를 도입한 분리막은 반대로 -1 V에서의 전류가 +1 V일 때보다 전류의 최대 4.2배인 정류특성을 나타냈다. 실험에 대한 이론적 증명은 2D 모델에 수치해석 결과를 제시함으로써 뒷받침되었다. 본 연구의 결과는 서로 다른 정류방향을 갖는 두 종류의 이온 정류 분리막을 손쉽게 제작할 수 있는 방법을 제시하며 이온의 이동을 제어하기 위한 다양한 연구 분야에 활용될 수 있을 것으로 기대된다.

Various methods for suppressing the membrane fouling have been investigated over the last two decades. For instance, micropatternings including lines, pillars or pyramids on the porous membrane surface as a passive strategy and coating nanoparticles including TiO2, silver and chitosan on the membrane as an active strategy have been verified useful in improving fouling resistance. Here we successfully fabricated biomimeticpatterned ultrafiltration membranes with high pattern fidelity to enhance the fouling resistance. Also, we investigated the synergistic effect of biomimetic patterns and nanoparticles on fouling resistance of our UF membranes. The excellent long-term performance of our nanoparticles containing patterned biomimetic UF membranes in membrane bioreactor further demonstrated its feasibility for ultrafiltration applications.

폴리아마이드 역삼투 분리막은 우수한 분리성능(염제거율, 수투과도)으로 인해, 해수담수화 공정의 핵심소재로 널리 사용되어오고 있다. 하지만, 해수내 존재하는 오염원에 의해 막표면이 오염(파울링)되어 성능이 저하되는 문제점을 가지고 있어, 분리막의 내오염성을 향상시키기 위한 많은 연구가 이루어져 왔다. 기존 연구는 주로 분리막 표면을 화학적으로 개질하는 방식에 의존하였으나, 장기간 내오염성이 유지되지 못하는 단점을 가지고 있다. 최근 분리막의 표면구조를 제어하여 내오염 특성을 부여하려는 연구가 시도되어 왔다. 본 연구에서는 새로운 분리막 표면구조 제어기술을 활용하여, 내오염특성이 우수한 생체의 표면구조를 모사한 역삼투 분리막을 제조하고, 우수한 내오염성을 구현하였다.

This paper analyzes the technological competitiveness of biomimetic robot. By analysing papers on biomimetic robots published from 1996 to 2016, We were able to identify the biomimetic robot paper clustering and competitiveness of research institutions. Biomimetic robot's papers searched by SCOPUS database are classified in 6 clusters. According to clustering analysis, the papers have applied in the sequence of underwater robot(31.28%%), robot actuator(20.57%), ground robot{20.51%), humanoid robot(12.72%), robot sensor(9.28%) and micro flying robot(5.65%).

단풍나무는 종족 번식을 목적으로 씨앗을 확산시키기 위해 바람을 이용한다. 모수에서 분리된 씨앗은 자동회전을 하면서 떨어지는데 이 회전을 통해 생성된 앞전 와류로 높은 양력을 발생시킴으로써 씨앗을 천천히 낙하시킨다. 단풍나무 씨앗의 자동회전 현상은 안정적인 공기 역학적으로 낙하 초기 자세에 상관없이 일정한 크기의 회전율과 낙하 속도를 갖고 있어서 산업적 응용 가능성도 크다. 본 연구에서는 단풍나무 씨앗의 자동회전 현상의 특성을 실험적으로 밝히고 이를 생체 모방하여 소형 풍력 터빈으로 개발할 가능성을 제시하고자 한다.

Male crickets (Order Orthoptera), producing sound for courting females and threatening other males, were chosen to perform researches for the better understanding of the microstructures of sound producing organs. It is known that cricket only makes sound for mating-related events. In this research, two patterns out chirping patterns were observed and analyzed. Each chirp was made of several nodes of waves, each node indicates a movement of wings – friction caused by file and plectrum located on wings. Although both wings possess file and plectrum, only the file on right wing and plectrum on left wing are used to produce sound. Each file consists of 126 teeth, where plectrum gets hooked. The teeth located on file have consistent gap between each other, proportional to the wave nodes acquired – except that the gap in the second region among equally divided six regions were shorter. In case of the usage of file, a cricket mostly uses second region to fifth region, since the teeth in first and sixth region are smaller. Since most of the researches made are mainly focused on the correlation between sound production and behavioral pattern, the current research project aims to reveal and provide thorough understanding on the sound producing organs of cricket, to suggest possible biomimetic applications in our daily lives.

본 연구에서는 생체모방기술을 응용하여 감성의류용 구조발색사를 방사하고, 이를 사용하여 직물을 제직 감량 가공하여 이들의 발색성 및 촉감 물성을 측정하여 감성의류용 용도의 적용성을 확인하여 다음과 같은 연구결과를 얻었다. 삼각단면을 가진 37층의 폴리에스테르와 나일론을 교호로 적층한 구조발색사의 방사조건을 확립하였으며, 이 세 가지 사의 발색성을 multi angle spectro-photometer로 확인하였다. 그리고 이 사들로 제직한 구조발색 직물 세 가지의 겉보기 색차와 반사율을 분석한 결과, 700nm에서 400nm까지의 파장에서 발색성을 확인하였다. 또한, 직물의 밀도와 조직이 다른 세 가지 구조발색 직물을 제직하고 감량 가공 처리하여 직물 역학특성치에서 촉감을 측정한 결과, 100℃, 60분 감량 처리한 시료가 최적설계(194ends/in × 105picks/in) 및 감량 조건임을 확인할 수 있었다. 그리고 감량 처리 시 온도와 처리시간 증가에 따라 감량률이 13%에서 최대 23%까지 증가함을 확인할 수 있었다. 이때 직물의 신축특성, 굽힘강성 및 전단강성은 감소하며 압축특성은 증가하는 현상을 보였다. 그리고 최적설계조건인 1번 직물시료를 100℃, 60분 감량 처리할 때 촉감이 가장 우수하며 일본 몰포 직물보다 더 우수한 촉감치를 얻었다.

Biomimetic apatite deposition behaviors on Zr-1Nb and Ti-6Al-4V plate with various surface conditions were examined. Both alloys were polished with abrasive papers to have different roughness and some of them were treated in NaOH before exposition in simulated body fluid. NaOH treatment was found to enhance the deposition rate of apatite on Ti-6Al-4V significantly. On the other hand, the deposition rate of Zr-1Nb was not influenced by NaOH treatment. Without NaOH treatment, the polished Zr-1Nb with abrasive paper was found to induce more apatite nucleation than the polished Zr-6Al-4V.

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.

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle’s swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

모발표면에는 독특한 형태의 지방산이 있다. 18-methyleicosanoic acid (18-MEA)는 모발 큐티클의 최외각 층에 공유결합된 특이한 ante-iso 형태의 지방산이다. 18-MEA 층은 CMC의 β-층 위에 위치하면서 모발의 외부 표면에 표면에너지와 마찰저항을 낮춰준다. 18-MEA 분자의 높은 유동성은 계면 전단력을 감소시켜 외부로부터 전달되는 지질들이 쉽게 퍼지도록 한다. 본 연구에서는 C10 - 40 isoalkyl acid의 말단에 관능기로 N-hydroxyl succinimidyl ester를 도입하여 모발 표면의 공유결합 지방산 층을 회복시켜보고자 하였다. 모발 표면의 재 소수화를 확인하기 위하여 접촉각을 측정하였다. 서로 다른 습도 조건(40, 55, 70 %RH)에서 모발의 내부 수분 함유량은 전자 수분 분석기를 이용하여 실시하였다. Hydroxysuccinimidyl C10 - 40 Isoalkyl Acidate (HCIA)로 처리한 모발의 표면은 큐티클을 접착하는 것과 같이 지방산 단분자층이 공유결합을 형성하여 큐티클의 균열을 채워줌으로써 매끄럽고 균일할 것으로 생각되었다. 이러한 접착 효과는 atomic force microscope (AFM) 영상의 라인 프로필(line profile)을 통해서 확인되었다. 따라서 모발내부 구성 물질과 수분이 쉽게 용출되지 않고, 외기의 습도가 변하는 경우에도 최적의 모발 습도가 항상 유지된다.AFM을 사용한 lateral force microscopy (LFM) 결과에 따르면 HCIA를 처리한 모발 표면의 마찰력이 감소되었고, 이에 대해 15회 샴푸 과정을 수행한 이후에도 동일한 마찰력 값을 나타내었다.

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supportingtheir body anbd help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduction of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment)