• Journal of Sensor Science and Technology
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• v.18 no.2
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• pp.154-159
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• 2009

This paper describes two methods - stamp-to-stick bonding and microtransfer molding - to integrate microfluidic channel into an optoelectrofluidic device for in-channel microparticle manipulation. We have demonstrated the optoelectronic microparticle manipulation in the channel-integrated optoelectrofluidic device using a liquid crystal display. As injecting a liquid sample containing $15{\mu}m$-diameter polystyrene particles into the fabricated channel, trapping and transport of individual microparticles have been successfully demonstrated. This channel-integrated optoelectrofluidic device may be useful for several in-channel applications based on the optoelectrofluidics such as optoelectronic flow control, droplet-based protein assay and bead-based immunoassay.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2435-2440
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• 2003

Manipulation of the nano/micro scale object has been a key technology in biology as the sizes of DNA, chromosome, nucleus, cell and embryo are within such order. For instance, for embryo cell manipulation, the cell injection is performed manually. The operator often spends over a year to carry out a cell manipulation project. Since the typical success rate of such operation is extremely low, automation of such biological cell manipulation has been asked. As the operator spends most of his time in finding the position of cell in the Petri dish and in injecting bio-material to the cell from the best orientation. In this paper, we propose a new strategy and a vision system, by which one can find, recognize and track nucleus, polar body, and zona pellucida of the embryo cell for automatic biomanipulation. The deformable template matching algorithm has been used in recognizing the nucleus and polar body of each cell. Result suggests that it outperforms the conventional methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.7
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• pp.1071-1075
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• 2003

In this paper, we present a DNA manipulation device in the reaction chamber, which consists of a center electrode and circular outer electrodes of a reaction unit. The charged bio-molecules, DNA, are manipulated by the charge of the electrode in reaction unit. Controlling the induced dynamic electric field between the center electrode and the outer electrodes, concentration / repulsion / manipulation of bio-molecules are enabled at a periphery of electrode. Concentration of the fluorescent DNA at the center electrode is observed by applying ＋2V. Subsequently, applying －2V, the concentrated DNA is repelled rapidly from the center electrode, which makes dispersion completely in 0.5second. Furthermore, repeated applying ＋1V/－1V every 5 seconds at each outer electrode, we can circulate the DNA. We also investigate a micro-heater and sensor for DNA manipulation and reaction temperature. The coefficient of heat-resistance and heater temperature characteristic is 0.0043 and 100$^{\circ}C$/sec, respectively.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.73-74
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• 2010

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.228-237
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• 2004

This paper provides a motion analysis of soft-fingertip object manipulation tasks by presenting a dynamic model of multi-fingered object manipulations with soft fingertips. It is fundamentally observed that soft fingertips employed in a multi-fingered hand generate some deformation effects during the manipulation process and also that those effects are closely related to the behavior of the manipulated object. In order to analyze the motion of using soft fingertips, a dynamic manipulation control scheme is presented. Simulation and experimental results demonstrate the motion of soft-fingertips applied in object manipulating tasks and are further used to discuss the characteristics of soft-fingertip motions.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.217-226
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• 2006

Grasping and manipulation by hands can be considered as one of inevitable functions to achieve the performances desired in humanoid operations. When a humanoid robot manipulates an object by his hands, each finger should be well-controlled to accomplish a precise manipulation of the object grasped. So, the trajectory of each joint required for a precise finger motion is fundamentally necessary to be planned stably. In this sense, this paper proposes an effective joint motion planning method for humanoid fingers. The proposed method newly employs a bio-mimetic concept for joint motion planning. A suitable model that describes an interphalangeal coordination in a human finger is suggested and incorporated into the proposed joint motion planning method. The feature of the proposed method is illustrated by simulation results. As a result, the proposed method is useful for a facilitative finger motion. It can be applied to improve the control performance of humanoid fingers or prosthetic fingers.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.899-900
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• 2012

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.774-779
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• 2010

This paper analyzes the fundamental dynamic motion of a robotic arm and body mechanism on the platform of a mobile manipulation system. For the purpose, we reveal the dynamic coefficients of a robotic arm and body mechanism, and identify their dominant behaviors in an exemplar trajectory following simulation. We also discuss on their influence for the motion of the body, shoulder, and elbow joints. It is finally expected that this analysis is helpful for effective manipulation tasks by using mobile manipulation systems with an arm and body mechanism.

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.135-143
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• 2004

Recently, high throughput screening for microorganisms with desired characteristics from a large heterogeneous population has become possible. Single cell separation has taken on increasing significance in recent years, and several different methods have been proposed so far. In this paper, we introduce several cell manipulation methods aiming at single cell separation and investigation. At first, methods for the separation of microorganisms are classified. Then, we introduce two different approaches, that is, (1) indirect manipulation using laser trapped microtools and (2) thermal gelation.

• Proceedings of the Korean Society for Bio-Environment Control Conference
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• 2005.05a
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• pp.136-138
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• 2005