• Journal of Electrical Engineering and Technology
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• 제9권6호
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• pp.2162-2167
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• 2014

Robots are widely used in various automation processes in industrial applications. Traditionally, it operated under fixed condition by teaching operating positions. Recently, diverse 2D/3D sensors are used together with robot to give more flexibility in operation. In this paper, we deal with automatic manipulation of tie rod in automotive production line. Sensor system consisted of a camera and slit laser is used for the acquisition of 3D information and it is used attached on the robot. Nut runner is used for the manipulation of stop nut and adjust bolt on the tie rod. Detailed procedures for the automatic manipulation of tie rod are presented. In the presented approach, we effectively use 3D information in whole procedure such as computing distance to the tie rod, rotation angle of bolt and nut. Experimental results show the feasibility of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• Bulletin of the Korean Chemical Society
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• 제33권11호
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• pp.3735-3739
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• 2012

We have developed magnetically controllable gold nanoparticles by synthesizing superparamagnetic $Fe_3O_4$ core/gold shell nanoparticles. The core/shell particles have the capability of forming gold 1D chains in the presence of an external magnetic field. Here we demonstrate dynamic and reversible self-assembly of the gold 1D chain structures in an aqueous solution without any templates or physical or chemical attachment. The spatial configuration of gold chains can be arbitrarily manipulated by controlling the direction of a magnetic field. This technique can provide arbitrary manipulation of gold 1D chains for fabrication purpose. To demonstrate this capability, we present a technique for immobilization of the gold particle chains on a glass substrate.

• Journal of Mechanical Science and Technology
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• 제18권5호
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• pp.789-797
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• 2004

The nanoscale sensing and manipulation have become a challenging issue in micro/nano-robotic applications. In particular, a feedback sensor-based manipulation is necessary for realizing an efficient and reliable handling of particles under uncertain environment in a micro/nano scale. This paper presents a piezoresistive MEMS cantilever for nanoscale force measurement in micro robotics. A piezoresistive MEMS cantilever enables sensing of gripping and contact forces in nanonewton resolution by measuring changes in the stress-induced electrical resistances. The calibration of a piezoresistive MEMS cantilever is experimentally carried out. In addition, as part of the work on nanomanipulation with a piezoresistive MEMS cantilever, the analysis on the interaction forces between a tip and a material, and the associated manipulation strategies are investigated. Experiments and simulations show that a piezoresistive MEMS cantilever integrated into a micro robotic system can be effectively used in nanoscale force measurements and a sensor-based manipulation.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2008년도 춘계학술발표대회
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• pp.508-511
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• 2008

In this paper, we propose software architecture for conveying contents-based OpenSound Control (OSC) packet from manipulation user interface to cooperative remote multi-robots. The Flash application is used as a controlling user interface and the physical prototyping of multi-robots were developed using physical prototyping toolkit.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2911-2914
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• 2003

Conventionally, biological manipulations have been performed manually with long training and pretty low success rates. To overcome this problem, a novel biological manipulation system has been developed to manipulate biological cells without any interference of a human operator, In this paper, we demonstrate a development of tole-autonomous Cell Manipulation System (CMS) using an image processing at a remote site. The CMS consists of two manipulators, a plane stage, and an optical microscope. We developed deformable template-model-matching algorithm for micro objects and pattern matching algorithm of end effect for these manipulators in order to control manipulators and the stage. Through manipulation of biological cells using these algorithms, the performance of the CMS is verified experimentally.

• Current Optics and Photonics
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• 제8권1호
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• pp.16-29
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• 2024

This paper presents a comprehensive review of metasurface technology, focusing on its significant role in extraordinary flat optic functionalities. Traditional optical components, though optimized, are bulky and less congruent with modern integrated electromagnetic and photonic systems. Metasurfaces, recognized as the 2D counterparts of bulk metamaterials, offer solutions with their planar, ultra-thin, and lightweight structures. Their meta-atoms are adept at introducing abrupt shifts in optical properties, paving the way for high-precision light manipulation. By introducing the key design principles of these meta-atoms, such as the magnetic dipole and Pancharatnam-Berry phase, various applications in wavefront shaping and beam forming with simple amplitude/phase manipulation and advanced applications including retroreflectors, Janus metasurfaces, multiplexing of optical wavefronts, data encryption, and metasurfaces for quantum applications are reviewed.

• KIEE International Transactions on Electrophysics and Applications
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• 제4C권5호
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• pp.241-246
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• 2004

In this paper, we present a novel integrated cell processor to handle individual embryos. Its functions are composed of transporting, isolation, orientation, and immobilization of cells. These functions are essential for biomanipulation of single cells, and have been typically carried out by a proficient operator. The purpose of this study is the automation of these functions for safe and effective cell manipulation using a MEMS based cell processor. This device is realized with a relatively simple design and fabrication process. Experimental results indicate that it can act as an efficient substitute for essential but very tiresome and repetitive manual work while contributing significantly to the improvement of speed and success rate of operation by facilitating cell manipulation. The cell viability test for the device is studied through the distribution of mitochondria in mice embryos and cultivation of cells for 86h.

• 센서학회지
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• 제12권4호
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• pp.156-163
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• 2003

일반적인 표면 마이크로머시닝 공정과 고분자의 중합공정을 결합하여 전도성 고분자인 폴리피롤 액추에이터를 제작하였다. 폴리피롤 액추에이터의 제작 공정을 검증하기 위한 가장 기본적인 구조물은 폴리피롤 캔틸레버이며 이를 이용하여 세포 조작에 응용 가능한 폴리피롤 그리퍼 및 밸브의 기본 구조물들을 제작하였다. 그리퍼는 손가락과 유사한 형태로 뼈에 해당하는 단단한 고분자와 근육에 해당하는 폴리피롤 등으로 구성된다. 밸브는 폴리피롤 캔틸레버에 유로가 결합된 형태로 제작되었다. 제안한 폴리피롤 액추에이터의 제작 공정 및 기본 구조물들은 세포 조작기구와 같은 바이오 관련 응용에 이용될 수 있을 것이다.

• 대한전자공학회논문지TC
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• 제42권8호
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• pp.11-16
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• 2005

본 논문은 스크램블링(Scrambling), 길쌈부호화(Convolutional Encoding), 펑처링(Puncturing), 인터리빙(Interleaving) 등과 같은 연산에 공통적으로 필요한 비트 조작(Bit Manipulation)을 효율적으로 지원하기 위한 비트 조작 연산 가속기를 제안한다. 기존의 DSP는 곱셈 및 가산 연산을 기본으로 연산기가 구성되어 있으며 워드 단위로 동작을 함으로 비트 조작 연산의 경우 비효율적인 연산을 수행할 수밖에 없다. 그러나 제안한 가속기는 비트 조작 연산을 다수의 데이터에 대해 병렬 쉬프트와 XOR 연산, 비트 추출 및 삽입 연산을 효율적으로 수행할 수 있다. 제안한 가속기는 VHDL로 구현 하여 삼성 $0.18\mu m$ 표준 셀 라이브러리를 이용하여 합성하였으며 가속기의 게이트 수는 1,700개에 불과하다. 제안한 가속기를 통해 스크램블링, 길쌈부호화, 인터리빙을 수행시 기존의 DSP에 비해 $40\~80\%$의 연산 사이클의 절감이 가능하였다.