• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.41.5-41
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• 2002

This paper presents a feature extraction algorithm for vision-based micromanipulation. In order to guarantee of the accurate micromanipulation, most of micromanipulation systems use vision sensor. Vision data from an optical microscope or high magnification lens have vast information, however, characteristics of micro image such as emphasized contour, texture, and noise are make it difficult to apply macro image processing algorithms to micro image. Grasping points extraction is very important task in micromanipulation because inaccurate grasping points can cause breakdown of micro gripper or miss of micro objects. To solve those problems and extract grasping points for micromanipulation...

• 로봇학회논문지
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• 제4권3호
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• pp.225-232
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• 2009

In the high precision robot systems, the most popular tasks may be handling of micro-scale objects on a surface such as a micromanipulation robot system. In handling of micro-scale objects, the stiction effect becomes a fundamental issue since the micro-contact mechanics dominates the micromanipulation robot system. In the paper, a theoretical non-stick condition derived from the micro-contact mechanics is carried out for the propose of micro-scale object manipulation. To verify the non-stick condition, a micro-manipulation robot system equipped with a high precision stage system and a microscope system is developed. Experimental results show that the proposed non-stick condition guarantees successful micro-scale object manipulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.149-150
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• 2007

• Reproductive and Developmental Biology
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• 제36권1호
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• pp.49-53
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• 2012

The present study was conducted to examine the generation of reactive oxygen species (ROS) during micromanipulation procedures in bovine somatic cell nuclear transfer (SCNT) embryos. Bovine enucleated oocytes were electrofused with donor cells, activated by a combination of Ca-ionophore and 6-dimethylaminopurine culture. Oocytes and embryos were stained in dichlorodihydrofluorescein diacetate or 3'-(p-hydroxyphenyl) fluorescein dye and the $H_2O_2$ or $^.OH$ radical levels were measured. $In$ $vitro$ fertilization (IVF) was performed for controls. The samples were examined with a fluorescent microscope, and fluorescence intensity was analyzed in each oocyte and embryo. The $H_2O_2$ and $^.OH$ radical levels of reconstituted oocytes were increased during manipulation (37.2~49.7 and 51.0~55.2 pixels, respectively) as compared to those of mature oocytes ($p$<0.05). During early $In$ $vitro$ culture, the ROS levels of SCNT embryos were significantly higher than those of IVF embryos ($p$<0.05). These results suggest that the cellular stress during micromanipulation procedures can generate the ROS in bovine SCNT embryos.

• 한국발생생물학회지:발생과생식
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• 제23권1호
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• pp.43-54
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• 2019

We examined the effects of endoplasmic reticulum (ER) stress inhibitor treatment during the micromanipulation of porcine somatic cell nuclear transfer (SCNT) on the in vitro development of SCNT embryos. ER stress inhibitors such as salubrinal (200 nM) and tauroursodeoxycholic acid (TUDCA; $100{\mu}M$) were added to the micromanipulation medium and holding medium. The expression of X-box binding protein 1 (Xbp1), ER-stress-associated genes, and apoptotic genes in SCNT embryos was confirmed at the one-cell and blastocyst stages. Levels of Xbp1 splicing and expression of ER-stress-associated genes in SCNT embryos at the one-cell stage decreased significantly with TUDCA treatment (p<0.05). The expression of ER-stress-associated genes also decreased slightly with the addition of both salubrinal and TUDCA (Sal+TUD). The expression levels of caspase-3 and Bcl2-associated X protein (Bax) mRNA were also significantly lower in the TUDCA and Sal+TUD treatments (p<0.05). At the blastocyst stage, there were no differences in levels of Xbp1 splicing, and transcription of ER-stress-associated genes and apoptosis genes between control and treatment groups. However, the blastocyst formation rate (20.2%) and mean blastocyst cell number ($63.0{\pm}7.2$) were significantly higher (p<0.05) for embryos in the TUDCA treatment compared with those for control (12.6% and $41.7{\pm}3.1$, respectively). These results indicate that the addition of ER-stress inhibitors, especially TUDCA, during micromanipulation can inhibit cellular damage and enhance in vitro development of SCNT embryos by reducing stress levels in the ER.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.103.5-103
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• 2001

This paper presents a visual feedback system that controls a micromanipulator using multiple microscopic vision information. The micromanipulation stations basically have optical microscope. However the single field-of-view of optical microscope essentially limits the workspace of the micromanipulator and low dept-of-field makes it difficult to handle 3D-shaped micro objects. The system consists of a stereoscopic microscope, three CCD cameras, the micromanipulator and personal computer. The use of stereoscopic microscope which has long working distance and high depth-of-field with selective field-of-view improves the recognizability of 3D-shaped micro objects and provides a method for overcoming several essential limitations in micromanipulation. Thus, visual feedback information is very important in handling micro objects for overcoming those limitations and provides a mean for the ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.168.2-168
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• 2001

Generally, operators suffer much difficulty in manipulating micro-nano-sized objects without assisting of human interface, due to the scaling effects in micro/nano world. Thus, the micromanipulation system based on the teleoperation techniques enables operators to manipulate the micro objects easily by transferring both human motion and manipulation skills to the micromanipulator. In teleoperated microassembly, it is necessary to provide a useful user interface for facilitating micro assembly task executed by human operators. In this paper, Intelligent User Interface (UI) for teleoperated microassembly is proposed. The proposed intelligent UI improves task performance by teleoperated micromanipulation as well as guides operators to succeed in desirable ...

• 한국발생생물학회지:발생과생식
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• 제24권1호
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• pp.31-41
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• 2020

We investigated the effects of endoplasmic reticulum (ER) stress inhibitor and antioxidant treatments during the micromanipulation of somatic cell nuclear transfer (SCNT) on in vitro development of SCNT embryos. Tauroursodeoxycholic acid (TUDCA), an ER stress inhibitor and vitamin C (Vit. C), an antioxidant, were treated by alone or in combination, then, the level of X-box binding protein 1 (Xbp1) splicing and the expressions of ER stress-associated genes, oxidative stress-related genes, and apoptotic genes were confirmed in the 1-cell and blastocyst stages. In the 1-cell stage, the levels of Xbp1 splicing were significantly decreased in TUDCA and Vit. C treatment groups compared to the control (p<0.05). In addition, the expression levels of most ER stress-associated genes and oxidative stress-related genes were significantly lower in all treatment groups than the control (p<0.05), and the transcript levels of apoptotic genes were also significantly lower in all treatment groups than the control (p<0.05). In the blastocyst stage, decreased expression of ER stress-, oxidative stress-, and apoptosis-related genes were observed only in some treatments. However, the blastocyst formation rates in TUDCA and Vit. C treatment groups (24.8% and 22.0%, respectively) and mean blastocyst cell number in all treatment groups (59.7±4.3 to 63.5±3.3) were significantly higher (p<0.05) than those of control. The results showed that the TUDCA or Vit. C treatment during micromanipulation inhibited both ER and oxidative stresses in the early stage of SCNT embryos, thereby reducing cell damage and promoting in vitro development.

• 한국실천공학교육학회논문지
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• 제3권1호
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• pp.193-199
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• 2011

본 논문에서는 원격조작 미세조정을 위한 매니퓰레이터를 제안한다. $2{\mu}m$정도의 정밀도를 갖는 매니퓰레이터를 설계하고 제어하기 위해 매니퓰레이터의 정밀도를 사전 계산하였고 그에 따른 각종 부품들로 실 시스템을 제작 하였다. 본 논문에서 제작된 원격조작 로봇 시스템은 여러 미세동작 제어 실험을 통해 그 정밀도가 검증하였고 원격 조작 로봇 시스템의 한 부분으로서 미세조정 매니퓰레이터의 적절성이 증명되었다. 제안된 매니퓰레이터는 아나로그적인 여러 요소로 제작 되었으며 논문에서 시스템의 장단점을 분석 하였다.

• Journal of Mechanical Science and Technology
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• 제17권9호
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• pp.1268-1275
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• 2003

In this paper, a compact 3-DOF mobile microrobot with sub-micron resolution is presented. It has many outstanding features : it is as small as a coin ; its precision is of sub-micrometer resolution on the plane ; it has an unlimited travel range ; and it has simple and compact mechanisms and structures which can be realized at low cost. With the impact actuating mechanism, this system enable both fast coarse motion and highly precise fine motion with a pulse wave input voltage controlled. The 1 -DOF impact actuating mechanism is modeled by taking into consideration the friction between the piezoelectric actuator and base. This modeling technique is extended to simulate the motion of the 3-DOF mobile robot. In addition, experiments are conducted to verify that the simulations accurately represent the real system. The modeling and simulation results will be used to design the model-based controller for the target system. The developed system can be used as a robotic positioning device in the micromanipulation system that determines the position of micro-sized components or particles in a small space, or assemble them in the meso-scale structure.