公开(公告)号：KR1020110067451A

公开(公告)日：2011-06-22

申请号：KR1020090124055

申请日：2009-12-14

Applicant: 서울대학교산학협력단

Inventor： 조동일 ,  권현일 ,  박재홍 ,  이태희 ,  어현규 ,  황원상

IPC: B25J13/08 ,  G05D1/12

Abstract: PURPOSE: A vision tracking system and method using a distant sensor is provided to prevent the blurring of video signal by stably obtaining the video signal using a vision sensor. CONSTITUTION: A vision tracking system comprises a distant sensor(110), a controller(120), and a driver(130). The distant sensor senses the movement of the first main body and generates signals. The controller uses the signal, delivered from the distant sensor, as the feedforward signal. The controller generates the control signal corresponding to the movement of the first body in order to drive the second body. The driver operates the secondary body according to the control signal of the controller. Since a vision sensor(140) moves along with the movement of the secondary body, the vision tracking about the target object, which is observed by the vision sensor, is performed.

Abstract translation: 目的：提供使用远程传感器的视觉跟踪系统和方法，以通过使用视觉传感器稳定地获得视频信号来防止视频信号的模糊。 构成：视觉跟踪系统包括远程传感器（110），控制器（120）和驱动器（130）。 遥感器感测第一主体的运动并产生信号。 控制器使用从远距离传感器传送的信号作为前馈信号。 控制器产生对应于第一机体的运动的控制信号，以驱动第二机体。 驾驶员根据控制器的控制信号操作次体。 由于视觉传感器（140）随着次体的运动而移动，所以执行由视觉传感器观察到的关于目标对象的视觉跟踪。

公开(公告)号：KR1020100071150A

公开(公告)日：2010-06-29

申请号：KR1020080129769

申请日：2008-12-19

Applicant: 서울대학교산학협력단

Inventor： 조동일 ,  박재홍 ,  심은섭 ,  이태희 ,  반욱

IPC: B25J13/08 ,  B25J5/00 ,  B25J9/16

Abstract: PURPOSE: A vision tracking system and a method using an encoder are provided to prevent the decrease of signal quality by the blurring of an image signal. CONSTITUTION: A vision tracking system comprises a plurality of traveling units, an encoder, a visual sensor, a driving part, and a controller. A plurality of traveling units is connected to the body. A robot is transferred while the traveling unit revolves. The encoder measures the RPM(Revolution Per Minute) of a plurality of traveling units. The encoder outputs a signal corresponding to the movement of the body from the RPM of the traveling units. The visual sensor observes the target object. The driving part is connected between the body and visual sensor and the driving part rotates the visual sensor.

Abstract translation: 目的：提供视觉跟踪系统和使用编码器的方法，以通过图像信号的模糊来防止信号质量的降低。 构成：视觉跟踪系统包括多个行进单元，编码器，视觉传感器，驱动部件和控制器。 多个行进单元连接到主体。 行走单元旋转时机器人被转移。 编码器测量多个行驶单元的RPM（每分钟的转数）。 编码器从行驶单元的RPM输出与身体的运动相对应的信号。 视觉传感器观察目标对象。 驱动部分连接在身体和视觉传感器之间，驱动部分旋转视觉传感器。

公开(公告)号：KR1020100041449A

公开(公告)日：2010-04-22

申请号：KR1020080100631

申请日：2008-10-14

Applicant: 서울대학교산학협력단 ,  주식회사 엠아이텍

Inventor： 조동일 ,  정효영 ,  구교인 ,  반재원 ,  이상민

IPC: A61J1/00 ,  A61B10/00

CPC classification number: A61B10/0096 ,  A61B10/0233 ,  A61B2090/3904

Abstract: PURPOSE: A recovery system for biological tissue collected by micro-spike is provided, which enables to easily separate the biological tissue. CONSTITUTION: A recovery system for biological tissue collected by micro-spike comprises: a container(210) for separating the biological tissue from micro-spike by supporting the biological tissue collected from the picking domain of micro-spike; and a cover(220) which covers the opened upper side by being combined with the container and prevents the biological tissue from being separated from the container. The micro-spike includes a body portion, more than two extension parts, and a second protrusion formed between the extension parts.

Abstract translation: 目的：提供由微尖收集的生物组织的恢复系统，能够容易地分离生物组织。 构成：由微针收集的生物组织的回收系统包括：容器（210），用于通过支持从微穗的采摘结构域收集的生物组织来分离生物组织与微穗; 以及通过与容器组合而覆盖打开的上侧的盖（220），并且防止生物组织与容器分离。 微针包括主体部分，多于两个延伸部分，以及形成在延伸部分之间的第二突出部。