• Journal of Biomedical Engineering Research
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• v.28 no.1
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• pp.95-101
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• 2007

Recently, small-animal imaging technology has been rapidly developed for longitudinal screening of laboratory animals such as mice and rats. One of newly developed imaging modalities for small animals is an x-ray micro-CT (computed tomography). We have developed two types of x-ray micro-CT systems for small animal imaging. Both systems use flat-panel x-ray detectors and micro-focus x-ray sources to obtain high spatial resolution of $10{\mu}m$. In spite of the relatively large field-of-view (FOV) of flat-panel detectors, the spatial resolution in the whole-body imaging of rats should be sacrificed down to the order of $100{\mu}m$ due to the limited number of x-ray detector pixels. Though the spatial resolution of cone-beam CTs can be improved by moving an object toward an x-ray source, the FOV should be reduced and the object size is also limited. To overcome the limitation of the object size and resolution, we introduce zoom-in micro-tomography for high-resolution imaging of a local region-of-interest (ROI) inside a large object. For zoom-in imaging, we use two kinds of projection data in combination, one from a full FOV scan of the whole object and the other from a limited FOV scan of the ROI. Both of our micro-CT systems have zoom-in micro-tomography capability. One of both is a micro-CT system with a fixed gantry mounted with an x-ray source and a detector. An imaged object is laid on a rotating table between a source and a detector. The other micro-CT system has a rotating gantry with a fixed object table, which makes whole scans without rotating an object. In this paper, we report the results of in vivo small animal study using the developed micro-CTs.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.32.5-32
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• 2001

There has been many teleoperation systems handling the micro object. However, the stability problem for these systems has not been mentioned yet. Historically, Lawrence[1] proposed the Transparency-Optimized Architecture and passivity theorem for stability analysis of bilateral teleoperation. He claimed that unless the task(or environment) impedance contains significance inertial behavior, Passivity condition for Transparency-optimized architecture is not satisfied. In this paper we propose one method which satisfies passivity condition for the micro-teleoperation system handling a insignificant inertial object and is based on the structure of Lawrence and Hashtrudi-Zaad[2] and velocity-force scaling.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.24-27
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• 2003

This paper discusses practical strategies for transition from a pinching to a power grasping, where a multi-fingered hand mounted on a robotic arm envelops a cylindrical object on a table. When the manipulation system grasps a cylindrical object like a pen on a desk, a complete enveloping is not impossible in the initial configuration. The system firstly pinches the object only with two or three fingers and then grasp it with fingers and a palm after regrasping. In this pinching-grasping transition maneuver, human unconsciously selects proper strategy according to some conditions including object dimensions and initial pinching positions. In this paper we therefore develop six possible strategies for this pinching-grasping transition and then investigate their performances for some objects with various dimensions and various grasping positions, using numerical simulations. Based on their results, effective strategies are implemented by using a hand-arm system.

• The Journal of Korea Robotics Society
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• v.4 no.3
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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.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1594-1599
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• 2008

Haptic rendering is a process that provides force feedback during interactions between a user and an object. This paper presents a haptic rendering technique for a telemanipulation system of deformable objects using image processing and physically based modeling techniques. The interaction forces between an instrument driven by a haptic device and a deformable object are inferred in real time based on a continuum mechanics model of the object, which consists of a boundary element model and ${\alpha}$ priori knowledge of the object's mechanical properties. Macro- and micro-scale experimental systems, equipped with a telemanipulation system and a commercial haptic display, were developed and tested using silicone (macro-scale) and zebrafish embryos (micro-scale). The experimental results showed the effectiveness of the algorithm in different scales: two experimental systems applied the same algorithm provided haptic feedback regardless of the system scale.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.631-632
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• 2008

• Journal of the Korean Society for Precision Engineering
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• v.23 no.8 s.185
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• pp.54-63
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• 2006

Enhancement methods of sensitivity to in-plane strain measurement by micro-ESPI(Electronic Speckle Pattern Interferometry) technique were proposed using TiN and Au thin films. Micro-tensile strain over the micro-tensile specimens, prepared in micro-scale by those films, was measured by micro-tensile loading system and micro-ESPI system developed in this study. The subsequent measurement of in-plane tensile strain in the micro-sized specimens was introduced using the micro-ESPI technique, and the micro-tensile stress-strain curves for these films were determined. To enhance the sensitivity to measurement of in-plane tensile strain, algorithms of the phase estimation by using curve fitting of inter-fringe and the discrete Fourier Transform with object-induced dynamic phase shifting were developed. Using these two algorithms, the micro-tensile strain-stress curves were generated. It is shown that the algorithms for enhancement of the sensitivity suggested in this study make the sensitivity to measurement of the in-plane tensile strain increase.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.9
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• pp.1694-1698
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• 2007

This study suggests a new fluorescence microscope to observe micro-samples within fluorophore in a variety of biomedical fields including the fluorescence analysis of a biochip, such as a DNA micro-array. A fluorescence microscope is a device for irradiating light onto a micro-object, executing an excitation and fluorescence emission process. In this study, it adopts a total internal reflection fluorescence(TIRF) method to excite a whole micro-sample substrate different from an existing way which uses an evanescent wave resulting from a total internal reflection on the micro-sample surface. Suggested TIRF microscope can reduce optical noise and obtain images with higher sensitivity thus obtain precise information about the density, quantity, location, etc. of a flurophore, and can simultaneously process separate images even when plurality of fluorophores having different excitation and fluorescent wavelength ranges is distributed, thus easily obtain information about the fluorophores.

• Proceedings of the Korean Information Science Society Conference
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• 2005.07a
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• pp.835-837
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• 2005

컴퓨터 산업의 빠른 발전과 더불어 근래에는 임베디드 시스템 분야가 빠르게 성장하고 있다. 이전에 작고 단순하던 임베디드 시스템이 산업의 발전과 사용자의 다양한 요구로 운영체제의 필요성이 높아지고 운영체제하에서 관리하는 실시간 프로세스들의 크기와 복잡도가 빠르게 증가하고 있다. 본 논문에서는 분산 실시간 객체 모델인 TMO-MicroC/OS-II의 실시간 스케줄러의 설계와 구현 방법을 기술하였다. TMO-MicroC/OS-II는 $Micrium^{TM}$에서 개발한 임베디드 OS인 MicroC/OS-II에 분산실시간 객체 모델인 TMO를 적용시킨 것이다. TMO (Time-triggered Message-triggered Object)는 시간조건에 의해 구동되는 객체 내의 실시간 스레드들의 동적 맴버들로 구성되는 프로그래밍 페러다임으로 본 논문에서는 TMO모델 적용을 위한 Deadline-driven 스케줄러 구현에 대해서 기술한다.

• Proceedings of the Korean Society for Bioinformatics Conference
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• 2005.09a
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• pp.29-34
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• 2005

DNA microarray becomes a major tool for the investigation of global gene expression in all aspects of cancer and biomedical research. DNA microarray experiment generates enormous amounts of data and they are meaningful only in the context of a detailed description of microarrays, biomaterials, and conditions under which they were generated. MicroArray Gene Expression Data (MGED) society has established microarray standard for structured management of these diverse and large amount data. MGED MAGE-OM (MicroArray Gene Expression Object Model) is an object oriented data model, which attempts to define standard objects for gene expression. To assess the relevance of DNA microarray analysis of cancer research it is required to combine clinical and genomics data. MAGE-OM, however, does not have an appropriate structure to describe clinical information of cancer. For systematic integration of gene expression and clinical data, we create a new model, Cancer Genomics Object Model.