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Concept Design of a Novel Bio-Inspired Drilling System for Shallow Drilling
Junseok Lee,Christian Tirtawardhana,Heung Woon Jang,Jung-Wuk Hong,Hyun Myung 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
As the exhaustion of resources used as existing energy such as petroleum and coal are approaching, interest in planning and research for finding new energy sources is on the rise. In addition, the use of existing energy sources is one of the main causes of environmental destruction. Energy demand is steadily increasing, and it is urgently needed to find alternative energy sources due to exhaustion and limitation of existing energy sources. The use of drilling technology is inevitable for exploring these new energy sources. However, existing drilling equipment and technologies have limitations due to the colossal size and complicated processes, and also cause environmental damage resulting from drilling wide area. Therefore, in this paper, to overcome these limitations, the mechanism of a compact excavating robot that mimics the anatomy and habit of digging animals is proposed. The proposed bio-inspired mechanism simulates the excavating and debris removing process of a ground-digging mole using its teeth and forelimbs. Finally, the stress generated by the module during excavation is analyzed and the design durability is verified through the simulation.
Development of Cleaning Module for Wall Climbing Drone with Bio-inspired Watering Mechanism
Taewan Kim,Byeongho Yu,Christian Tirtawardhana,I Made Aswin Nahrendra,Hyun Myung 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
For many years, there has been significant progress in cleaning facilities in hazardous conditions using autonomous mechanical systems to keep humans away from potential danger. Especially, the cleaning method using a UAV (Unmanned Aerial Vehicle) has attracted much interest in the robotics field due to its high degree of freedom in maneuverability; however, a UAV has a payload limitation. In this paper, we propose a cleaning module for a specific drone platform “CAROS-Q” that can tilt its pose to perch on walls or tilted surfaces. The proposed module includes bio-inspired water flow control mechanism from the peristaltic movement of the Esophagus for improving cleaning performance while minimizing the complexity and weight. By comparing the cleaning performance between the proposed module and dry brush cleaning, it was confirmed that the proposed module outperforms the counterpart for cleaning various contaminants.
이준석,명완철,유병호,Christian Tirtawardhana,명현 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.1
Drilling technology has been used in various fields. In recent years, studies have been conducted for extreme areas and space exploration. In addition, technology is being developed for the exploration and mining of new energy resources. Because of the large size and the complicated processes of the existing drilling systems, many limitations and environmental problems exist. In recent years, bio-inspired or bio-mimetic robots that simulate the movement or habitats of living things have been developed actively for efficient operation. This paper proposes an embedded directional drilling robot (Mole-bot) that mimics the biological structure and excavation habits of the mole. The proposed system includes digging, moving, direction changing, locking, and debris removal mechanisms. In conclusion, performance evaluation of the excavation mechanism and direction changing mechanism of the developed robot were carried out. .