In these days, various researches for biomedical application of robots have been carried out. Particularly, robotic manipulation of the biological cells has been studied by many researchers. Usually, most of the biological cell's shape is sphere. Commercial biological manipulation systems have been utilized the 2-Dimensional (called 2D hereafter) images through the optical microscopes only. Moreover, manipulation of the biological cells mainly depends on the subjective viewpoint of an operator. Due to these reasons, there exist lots of problems such as slippery and destruction of the cell membrane and damage of the pipette tip etc. In order to overcome the problems, we have proposed a vision-guided biological cell manipulation system. The newly proposed manipulation system makes use of vision and graphic techniques. Through the proposed procedures, an operator can inject the biological cell scientifically and objectively. Also, the proposed manipulation system can measure the contact force occurred at injection of a biological cell. It can be transmitted a measured force to the operator by the proposed haptic device. Consequently, the proposed manipulation system could safely handle the biological cells without any damage. This paper presents the introduction of our vision-guided manipulation techniques and the concept of the contact force sensing. Through a series of experiments the proposed vision-guided manipulation system shows the possibility of application for precision manipulation of the biological cell such as DNA.
This study was carried out to investigate the effect of the annual application of organic resources on the soil environment and rice production. The experiment consisted of five treatments; NF (no-fertilization), NPK (inorganic fertilizer), NPKR (inorganic fertilizer + rice straw), NPKC (inorganic fertilizer + cow compost) and NPKS (inorganic fertilizer + swine compost). Soil organic matter content was not different for all treatments in 2021. The soil organic carbon (SOC) and soil organic carbon stock (SOC stock) were not difference for all treatments in 2021. The highest rice production was NPKR treatment in 2018 and 2021. However, the rice production was no significant difference among the other organic resource application treatments (NPKR, NPKC, NPKS) and only inorganic fertilizer treatment. The application of organic resources can improve the soil environment and increase crop production. Still, long-term studies are needed to evaluate the impact of the application of organic resources on the soil environment and crop production.
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