• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2457-2460
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• 2003

There is a great demand to manipulate biological cell autonomously since biologist should spend much time to obtain skillful manipulation techniques. For this purpose, we propose a cell chip to control, carry, fix and locate the cell. In this paper, we focus on the cell rotator to rotate individual biological cell based on a micro fluidics technology. The cell rotator consists of injection hole and rotation well to rotate a biological cell properly. Under the variation of flow rate in injection hole, the angular velocity of a biological cell is evaluated to find the feasibility of the proposed rotation method. As a practical experiment, Zebrafish egg is employed. Based on this research, we find the possibility of non-contact rotation way that can highly reduce the damage of the biological cell during manipulation. To realize an autonomous biological cell manipulation, a cell chip with manipulation well and micro channel in this research will be utilized effectively in near future.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.834-837
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• 2005

In this paper, we describe the method of non-invasive blood pressure measurement using pulse wave transit time(PWTT). PWTT is a new parameter involved with a vascular that can indicate the change of BP. PWTT is measured by continuous monitoring of ECG and pulse wave. No additional sensors or modules are required. In many cases, the change of PWTT correlates with the change of BP. We measure pulse wave using the photo plethysmograph(PPG) sensor in an earlobe and we measure ECG using the ECG monitoring device our made in the chest. The measurement device for detecting pulse wave consists of infrared LED for transmitted light illumination, pin photodiode as light detector, amplifier and filter. We composed 0.5Hz high pass, 60Hz notch and 10Hz low pass filter. ECG measurement device consists of multiplexer, amplifier, filter, micro-controller and RF module. After amplification and filtering, ECG signal and pulse wave is fed through micro-controller. We performed the initial work towards the development of ambulatory BP monitoring system using PWTT. An earlobe is suitable place to measure PPG signal without the restraint in daily work. From the results, we can know that the dependence of PWTT on BP is almost linear and it is possible to monitoring an individual BP continuously after the individual calibration.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1641-1644
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• 2005

Magnetic actuation utilizes the mechanic torque that is the result of interaction of the current in a coil with an external magnetic field. A main obstacle is, however, that torques can only be produced perpendicular to the magnetic field. In addition, there is uncertainty in the Earth magnetic field models due to the complicated dynamic nature of the field. Also, the magnetic hardware and the spacecraft can interact, causing both to behave in undesirable ways. This actuation principle has been a topic of research since earliest satellites were launched. Earlier magnetic control has been applied for nutation damping for gravity gradient stabilized satellites, and for velocity decrease for satellites without appendages. The three axes of a micro-satellite can be stabilized by using an electromagnetic actuator which is rigidly mounted on the structure of the satellite. The actuator consists of three mutually-orthogonal air-cored coils on the skin of the satellite. The coils are excited so that the orbital frame magnetic field and body frame magnetic field coincides i.e. to make the Euler angles to zero. This can be done using a Neural Network controller trained by PD controller data and driven by the difference between the orbital and body frame magnetic fields.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.810-815
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• 1988

This paper presents a mobile robot that travels employing visual information. The mobile robot is equipped solely with a TV camera as a sensor, and views from the TV camera are transferred to a separately installed micro computer through an image acquisition device. An acquired image of a view is processed there and the information necessary for travel is yielded. Instructions based on the information are then sent from the micro computer to the mobile robot, which causes the mobile robot next action. Among several application programs that have already been developed for the mobile robot other than the entire control program, this paper focuses its attention on the travelling control of the mobile robot in a model environment with obstructions as well as an overview of the whole system. The behaviour the present mobile robot takes when it travels among obstructions was investigated by an experiment, and satisfactory results were obtained.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.211-214
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• 1995

A precise open-loop positioning system using linear pulse motor has been developed. The system is operated in a microstepping mode by controlling the electric current. One step of 508 .mu.m (tooth pitch of the linear pulse motor) is divided into 508 micro-steps equally. The displacement is measured with a system using a Fiezeau-type interferometer. Periodical positioning error with a period of the tooth pitch was observed in this system. Therefore, the position is corrected using the error. The error is stored into computer in advance, and the microstep current is corrected on basis of the stored data. Although the positioning error of the system without the correction was .+-.4.5 .mu.m, that with the correction was decreased to .+-.1.0 .mu.m.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.227-235
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• 2000

Agricultural products are easily deformable its shape because of some external forces. However, these force behavior is difficult to measure quantitatively. Until now, many researches on the mechanical property was performed with various methods such as material testing, chemical analysis and non-destructive methods. In order to investigate force behavior on the cellular unit of agricultural products, electro-microscope based 3D image processing method will contribute to analysis of plant cells behavior. Before image measurement of plant cells, plant sample was cut off cross-sectioned area in a size of almost 300-400 ${\mu}$ m units using the micron thickness device, and some of preprocessing procedure was performed with fixing and dyeing. However, the wall structure of plant cell is closely neighbor each other, it is necessary to separate its boundary pixel. Therefore, image merging and shrinking algorithm was adopted to avoid disconnection. After then, boundary pixel was traced through thinning algorithm. Each image from the electro-microscope has a information of x,y position and its height along the z axis cross sectioned image plane. 3D image was constructed using the continuous image combination. Major feature was acquired from a fault image and measured area, thickness of cell wall, shape and unit cell volume. The shape of plant cell was consist of multiple facet shape. Through this measured information, it is possible to construct for structure shape of unit plant cell. This micro unit image processing techniques will contribute to the filed of agricultural mechanical property and will use to construct unit cell model of each agricultural products and information of boundary will use for finite element analysis on unit cell image.

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

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.32-37
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• 2002

Applications of scaled telemanipulation into micro or nano world that shows many different features from directly human interfaced tools have been increased continuously. Here, we have to consider many aspects of scaling such as force, position, and impedance. For instance, what will be the possible range of force and position scaling with a specific level of performance and stability\ulcorner This knowledge of feasible staling region can be critical to human operator safety. In this paper, we show the upper bound of the product of force and position scaling and simulation results of 1DOF scaled system by using the Llewellyn's unconditional stability in continuous and discrete domain showing the effect of sampling rate.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.828-831
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• 1997

One of the most important design factor for the image tracker is the speed of the data processing which allows real-time operation of the system and provides reasonably accurate performance at the same time. Use of powerful DSP alone does not guarantee to meet such requirement. In this paper, a simple efficient algorithm for real-time multi-target image tracking is suggested. The suggested method is based on a recursive centroiding technique and color table look-up. This method has been successfully implemented in a image processing system for Micro-Robot Soccer Tournament(MIROSOT). This tracker can track positions of a ball, 3 enemies, and 3 agents at the same time. The experimental results show that the processing time for each frame of image is less than 7ms, which is well within the 60Hz sampling interval for real-time operation.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.516-519
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• 1997

In this paper, the control of the temperature for the vehicle air conditioner is implemented with the fuzzy controller using a micro controller. The linguistic control rules of the fuzzy controller are separated into two out variables(multi input multi output ; MIMO) : one is those for the blower motor, and the other is those for air mix door. The error in fuzzy controller, the input variable is defined as difference between the reference temperature and the actual temperature in the cabin room. The fuzzy control rules are established from the human operator experience, and based engineering knowledge about the process. The method of the center of gravity is utilized for the defuzzification.