• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.241-245
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• 2003

In this paper, a microassembly system based on hybrid manipulation schemes is proposed and applied to the assembly of a photonic component. In order to achieve both high precision and dexterity in microassembly, we propose a hybrid microassembly system with sensory feedbacks of vision and force. This system consists of the distributed 6-DOF micromanipulation units, the stereo microscope, and haptic interface for the force feedback-based microassembly. A hybrid assembly method, which combines the vision-based microassembly and the scaled teleoperated microassembly with force feedback, is proposed. The feasibility of the proposed method is investigated via experimental studies for assembling micro opto-electrical components. Experimental results show that the hybrid microassembly system is feasible for applications to the assembly of photonic components in the commercial market with better flexibility and efficiency.

• Journal of the Korean Society of Visualization
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• v.17 no.1
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• pp.69-77
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• 2019

This paper introduces microfluidic manipulation of microorganism by opto-electrokinetic technique, named rapid electrokinetic patterning (REP). REP is a hybrid method that utilizes the simultaneous application of a uniform electric field and a focused laser to manipulate various kinds and types of colloidal particles. Using the technique in preliminary experiments, we have successfully aggregated, translated, and trapped not only spherical polystyrene, latex, and magnetic particles but also ellipsoidal glass particles. Extending the manipulation target to cells, we attempted to manipulate saccharomyces cerevisiae (S. cerevisiae), the most commonly used microorganism for food fermentation and biomass production. As a result, S. cerevisiae were assembled and dynamically trapped by REP at arbitrary location on an electrode surface. It firmly establishes the usefulness of REP technique for development of a high-performance on-chip bioassay system.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.6
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• pp.705-713
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• 1999

In this paper, we propose a new motion and force control methodology for constrained robots as an approach of hybrid discrete-continuous dynamical system. The hybrid dynamic system modeling of robotic manipulation tasks with constraints is presented, and the hybrid system control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference stiffness of robot manipulator is generated by the hybrid automata as a discrete state system and the control behavior of constrained system which has poor modeling information and time-varying constraint function is improved by the constrained robots as a continuous state system. The performance of the proposed constrained motion control system is successfully evaluated via experimental studies to the constraint tasks.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.781-785
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• 1989

In the field of control technology, too, it is about time that the students should free themseleves from the paradigm of Newtonian mechanics. Otherwise, they might fail to grasp the essence of control. Now, let us consider the essence of control. Control consists of manipulating a particular object, matter, energy of environment on the basis of certain medium information. (measurement data, force, etc.) So, we shall look into the methods of manipulation. Here, we consider natural control, constraining control, and hybrid control as basic methods of manipulation. In this paper, we would like to put forward the daring proposal that it's called a Holon-type hybrid control system. It is intended to control a plat with complicated or unknown characteristics where a conventional control theory is not easy to apply. A prototype system has been developed and applied to a real plant. The control system is a multi-layer system. Each layer includes different control input. The important features of the system are as follows: 1) Each layer behaves autonomously and also cooperates with each other to optimize the whole plant. 2) The controller optimizes a plant without mathematical models when these models are not easy to obtain.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.353-362
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• 2005

This article describes a state-of-the art review in nano-biomanipulation technologies. Nanomanipulation of biological objects enables an in-depth study of single molecules such as DNA and RNA, and of biophysical events at the molecular level like molecular motors. Controlled nanomanipulation is challenging but essential for precisely engineering biomolecules or cells and for manufacturing functional nano-biosystems. In this paper, we summarize several contact, non-contact and hybrid methods available for nanomanipulation of biological objects. Advantages currently available methods and their limitations are also compared. Finally, we discuss possible applications of nano-biomanipulation technologies to life science and molecular medicine including cell biology, genetic engineering, biophysics, and biochemistry.

• Korean Journal of Materials Research
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• v.29 no.12
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• pp.774-780
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• 2019

The performance of Li-ion hybrid supercapacitors (asymmetric-type) depends on many factors such as the capacity ratio, material properties, cell designs and operating conditions. Among these, in consideration of balanced electrochemical reactions, the capacity ratio of the negative (anode) to positive (cathode) electrode is one of the most important factors to design the Li-ion hybrid supercapacitors for high energy storing performance. We assemble Li-ion hybrid supercapacitors using activated carbon (AC) as anode material, lithium manganese oxide as cathode material, and organic electrolyte (1 mol L^-1 LiPF₆ in acetonitrile). At this point, the thickness of the anode electrode is controlled at 160, 200, and 240 ㎛. Also, thickness of cathode electrode is fixed at 60 ㎛. Then, the effect of negative and positive electrode ratio on the electrochemical performance of AC/LiMn₂O₄ Li-ion hybrid supercapacitors is investigated, especially in the terms of capacity and cyclability at high current density. In this study, we demonstrate the relationship of capacity ratio between anode and cathode electrode, and the excellent electrochemical performance of AC/LiMn₂O₄ Li-ion hybrid supercapacitors. The remarkable capability of these materials proves that manipulation of the capacity ratio is a promising technology for high-performance Li-ion hybrid supercapacitors.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.154-160
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• 2006

Instantaneous reaction and intelligence are required for autonomous mobile robots to achieve multiple goals in the unpredictable and dynamic environments. Design of the appropriate control architecture and clear definitions of systems are needed to construct and control these robots. This research proposes the hybrid deliberative/reactive control architecture which consists of three layers and uses the method of software structure design. The highest layer, Deliberative Layer makes the overall run-time schedule for navigation and/or manipulation, and the middle layer, Task Execution Layer carries out various missions. The lowest layer, Reactive Layer enables a robot to react rapidly in the dynamic environment and controls the mechanical devices concurrently. This paper proposes independent system supervisors called Manager to reuse the modules so that the Manager supports common use of the system and multi-processing tasks. It is shown that the mobile robot based on the proposed control scheme can perform the basic navigation and cope with the dynamic obstacles reasonably well.

• Polymer(Korea)
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• v.31 no.2
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• pp.111-116
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• 2007

Polyurethane modified acrylate $(PUA)/SiO_2$ hybrid films were prepared by ultraviolet curing and their surface properties were investigated by hardness and adhesion test. The films were examined by the manipulation of mole-ratio of organic to inorganic components. Under the silica content controlled, highly desirable films were achieved and scratch resistance and hardness property of film were also enhanced, which indicates that the crosslinked silica particles are homogeneously dispersed within PUA film.

• Animal Bioscience
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• v.36 no.1
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• pp.84-97
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• 2023

Objective: One hundred hybrid male ducks (Mojosari×Alabio) were used to examine the efficacy of chicory supplementation as nutritional feed manipulation on production performance, and blood lipid profile of hybrid ducks. Methods: The ducks were tagged, weighed, and then allotted randomly to one of the four treatment diets using a completely randomized design. The experimental diets were: i) P0 (100% basal diets+0% chicory as control), ii) P1 (95% basal diets+5% chicory), iii) P2 (90% basal diets+10% chicory) and iv) P3 (85% basal diets+15% chicory). For each treatment group, there were 5 replicates of 5 birds each. All experimental diets were isonitrogenous and isocaloric using locally available ingredients. Results: Hybrid ducks with fed diets supplemented fresh chicory (5%, 10%, and 15%) showed increased feed intake and body weight gain, as well as feed conversion ratio to be smaller than those ducks fed diets without chicory supplementation (control). The ducks fed 10% chicory supplementation contained significantly (p<0.05) lower ash and higher organic matter contents of meat than those ducks fed other diets. The ducks fed 15% chicory supplementation showed the lowest crude protein and cholesterol content of meat among the treatment diets. Ducks fed chicory supplementation showed lower (p<0.05) blood cholesterol and triglyceride levels than those ducks fed without chicory supplementation, while dietary interventions had no major (p>0.05) influence on low-density lipoprotein and high-density lipoprotein levels in duck blood. Conclusion: In this study, 10% chicory supplementation showed the best results characterized by an increase in growth performance, carcass quality, small intestinal histomorphology, and lower cholesterol levels of meat.

• Clinical and Experimental Pediatrics
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• v.56 no.4
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• pp.176-181
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• 2013

Purpose: Apical muscular ventricular septal defects (MVSDs), especially in small infants, can be difficult to manage using surgical and percutaneous closure. An intraoperative perventricular procedure is a good option for closing apical MVSDs in small children with or without associated cardiac anomalies. We evaluated the results of hybrid perventricular closure of apical MVSDs performed using an Amplatzer duct occluder (ADO). Methods: We retrospectively reviewed the medical records of 5 patients who underwent hybrid perventricular closure of MVSDs with ADOs, from March 2006 to May 2011. The median patient age at the time of the procedure was 12 months (range, 25 days to 25 months), and the median body weight was 9.1 kg (range, 4.3 to 15 kg). Two patients had multiple ventricular septal defects (VSDs; additional perimembranous VSD in 1 patient and multiple MVSDs in the other) and 3 patients had associated cardiac anomalies; complete transposition of the great arteries in 1 patient and an atrial septal defect in 2 patients. All the procedures were performed on beating hearts, exception in 1 case. The ADO selected for the aortic side was at least 1 to 2 mm larger than the largest VSD in the left ventricle side. Results: The procedure was successful in all patients and each device was well positioned. During the median follow-up of 2.4 years, a small residual VSD was noted in 2 patients who had multiple VSDs and no leakage was seen in the other 3 patients. Conclusion: Perventricular closure of MVSD with an ADO is a good option for patients with apical MVSD. However, careful manipulation is important, especially in the case of small infants.