• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.57 no.10
• /
• pp.1876-1882
• /
• 2008

Nano manipulator is used to manufacture Carbon NanoTube(CNT) tips. Using nano manipulator, operator attaches a CNT at the apex of Atomic Force Microscope(AFM) tip, which requires a mastery of mechanics and long manufacture time. Nano manipulator is installed inside a Scanning Electron Microscope(SEM) chamber to observe the operation. This paper presents a control scheme for horizontal axes of nano manipulator via processing SEM image. Edges of AFM tip and CNT are first detected, and the position information so obtained is fed to control horizontal axes of nano manipulator. That is, a visual servoing loop is realized to control the axes more precisely in nano scale.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.89-92
• /
• 1996

In this paper, we developed visual tracking algorithm using double active bar. The active bar model to represent the object can reduce the search space of energy surface and better performance than those of snake model. However, the contour will not find global equilibrium when driving force caused by image may be weak. To overcome this problem. Double active bar is proposed for finding the global minimum point without any dependence on initialization. To achieve the goal, an deformable model with two initial contours in attempted to search for a global minimum within two specific initial contours. This approach improve the performance of finding the contour of target. To evaluate the performance, some experiments are executed. We can achieved the good result for tracking a object on noisy image.

• Korean Journal of Computational Design and Engineering
• /
• v.9 no.3
• /
• pp.212-219
• /
• 2004

This paper presents the visualization method of the KAIST interactive bicycle simulator. The simulator consists of two bicycles of 6 DOF and 4 DOF platforms, force feedback handlebars and pedal resistance systems to generate motion feelings; a real-time visual simulator, a HMD and a beam projection system; and a 3D sound system. The system has an integrating control network with the server-client network structure for multiple simulators. The visual simulator generates dynamic images in real-time while communicating with other modules of the simulator. The operator of the simulator can have realistic visual experience of riding on a velodrome or through the KAIST campus, while being able to watch the other bicycle with an avatar.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 1999.10a
• /
• pp.403-410
• /
• 1999

General1y, H-section is used for columns and beams in the middle and low steel building, But it has a strong and weak axis. Thus if H-section is used for columns, the structure needs reinforcement on the weak axis. Therefore recently, square holler section(S.H.S) is used for columns because it is able to coiler the vulnerability of H-section. Structural analysis is usually executed under the assumption that connections are either ideally pinned joint or fully rigid joint. Actually all connections are semi-rigid which possess a rotational stiffness. Therefore it can be designed economically as using the property of connections which has a rotational stiffness. This paper presents a prediction model curve which is fitted Kishi-Chen power Model about the behavior of connection between H-beam and S.H.S column. Non-linear analysis program was considered the non-linearity of semi-rigid connection and the geometrical non-linearity under the effect of axial force. It was programed by FORTRAN90 and Visual Basic.

• Proceedings of the KIEE Conference
• /
• 2007.10a
• /
• pp.251-252
• /
• 2007

Nano manipulator is used to manufacture Carbon NanoTube(CNT) tips. Using nano manipulator operator attaches a CNT at the end of Atomic Force Microscopy(AFM) tip, which requires a master mechanic and long manufacture time. Nano manipulator is installed inside Scanning Electron Microscopy (SEM) chamber to observe the operation. This paper presents a control of horizontal axis of nano manipulator via processing SEM image. Edges of AFM tip and CNT are first detected, the position information so obtained is fed to control horizontal axis of nano manipulator. To be specific, visual servoing loop was realized to control the axis more precisely.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.39 no.3
• /
• pp.39-46
• /
• 2016

Loss of postural stability can possibly lead to slip and fall accidents in the number of workplaces and everyday life. This study was aimed to examine the effects of whole body fatigue and partially limited visual field on the ability of maintaining postural balance during quiet standing. A group of twelve healthy male subjects participated in the experiment. Before and after experiencing the whole body fatigue induced by bicycling exercises, the position coordinates of subject's center of pressure (COP) were obtained under the two levels of visual field condition (i.e., open visual field and limited visual field). Four levels of the whole body fatigue examined were rest, 300watt, 600watt, and 900watt. Position coordinates of COPs measured on a force plate were then converted into the total length of postural sway path in both the medio-lateral (ML) direction and the anterior-posterior (AP) direction. Two-way ANOVA result showed that the length of sway path in the AP direction became significantly larger as the whole body fatigue accumulated. Post-hoc test revealed statistically significant differences between rest and 900watt and between 300watt and 900watt. The significant increase of the sway length was also found when the visual field was partially obstructed by the boxes. In the ML direction, however, there was no statistically significant difference of the postural sway in both the AP and ML directions. The results imply that the ability of maintaining postural stability can be reduced significantly due to such tasks along with whole body fatigue. The postural balance can also be impaired by the limited visual field.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2451-2456
• /
• 2003

In biological cell manipulation, manual thrust or penetration of an injection pipette into an egg is currently performed by a skilled operator, relying only on visual feedback information. Massive load of various micro injection of either genes, fluid or cells in the postgenomic era calls a more reliable and automatic micro injection system that can test hundreds of genes or cell types at a single experiment. We initiated to study cellular force sensing in zebrafish eggs as the first step for the development of a more controllable micro injection system by any inexperienced operator. Zebrafish eggs at different developmental stages were collected and an integrated biomanipulation system was employed to measure cellular force during penetrating the egg envelope, the chorion. First of all, the biomanipulation system integrated with cellular force sensing instrument is implemented to measure the penetration force of cell membranes and characterize mechanical properties of zebrafish embryo cells. Furthermore, implementation of cellular force sensing system and calibration are presented. Finally, the cellular force sensing of penetrating cell membranes at each developmental stages was experimentally performed. The results demonstrated that the biomanipulation system with force sensing capability can measure cellular force at real-time while the injection operation is undergoing. The magnitude of the measured force was in the range of several hundreds of uN. The precise real-time measurement should provide the first step forwards for the development of an automatic and reliable injection system of various materials into biological cells.

• 한국HCI학회:학술대회논문집
• /
• 2008.02c
• /
• pp.19-24
• /
• 2008

This paper presents a physically-based haptic rendering algorithm for a deformable object based on visual information about the intervention between a tool and a real object in a remote place. The physically-based model of a deformable object is created from the mechanical properties of the object and the captured image obtained with a CCD camera. When a slave system exerts manipulation tasks on a deformable object, the reaction force for haptic rendering is computed using boundary element method. Snakes algorithm is used to obtain the geometry information of a deformable object. The proposed haptic rendering algorithm can provide haptic feedback to a user without using a force transducer in a teleoperation system.

• Journal of Korea Technical Association of The Pulp and Paper Industry
• /
• v.30 no.4
• /
• pp.49-58
• /
• 1998

The SPM could image the most detailed microstructure of a sample in a wet and dry state by measuring the interaction between the atoms on the sample surface and the extremely sharp probe tip. The refined fibre exhibited large wrinkles formed by fibrillar bundles, the disintegrated fibres extensively showed “scale-like features”. By using the Non-Contact Atomic Force Microscopy (NC-AFM) and Contact Atomic Force Microscopy (C-AFM) including Phase Detection Microscopy (PDM) and Force Modulation Microscopy (FMM), it was possible to investigate surface topography, surface roughness and mechanical property (hardness or visco-elasticity) of fibre surface in detail. The PDM and FMM images showed that the disintegrated only fibre displayed uniform mechanical properties, whereas the refined one did not. The surface roughness of pulp fibres was higher in refined fibres than in disintegrated fibres due to the presence of external fibrils. These SPM images would be used to provide visual evidence of morphological change of a single fibre created during mechanical treatments such as refining, drying, calendering and so on.

• The Journal of Korea Robotics Society
• /
• v.8 no.3
• /
• pp.179-185
• /
• 2013

In this paper we propose a haptic interaction system that physically represents the underlying geometry of objects displayed in a 2D picture, i.e., a digital image. To obtain the object's geometry displayed in the picture, we estimate the physical transformation between the object plane and the image plane based on homographic information. We then calculate the rotated surface normal vector of the object's face and place it on the corresponding part in the 2D image. The purpose of this setup is to create a force that can be rendered along with the image without distorting the visual information. We evaluated the proposed haptic rendering system using a set of pictures of objects with different orientations. The experimental results show that the participants reliably identified the geometric configuration by touching the object in the picture. We conclude this paper with a set of applications.