Recently, the automatic laser-piercing has become a subject of growing research area in the hydroforming of car body and robotic fields. Generally, the laser-cutting with 6-DOF robot system has 3D error due to a gear backlash and inaccurate calibration method between sensor and cutting-tool. The objective of this article is to study the automatic laser-cutting for the micro-hole piercing of engine cradles. The development of redundant micro-control module and laser vision sensor contributes to the implementation of precise laser cutting. To obtain higher a performance of control module, the calibration algorithm between cutting-tool and laser sensor is required. The implementation of this methodology will be describe. The optimal path generation for a good quality of cutting section is also explained in detail. The experimental results demonstrate the successful operation in the automatic micro-hole piercing. It shows a validity of the micro-motion mechanism and robot‘s calibration algorithm in laser sensor.

Somatic cells nuclear transfer (SCNT) is a useful tool in studies of developmental biology and animal cloning. However, SCNT experiments only are allowed to skilled technical experts. In this experiment, laser-assisted zona pellucida piercing tool (LASER) was applied in murine SCNT. LASER minimized the use of piezo-driven micromanipulator (PIEZO), reducing chances of problems caused by PIEZO pulses. LASER reduced time that took to pierce zona pellucida in removal of nucleus from oocyte and somatic cell injection, which might have taken longer time with PIEZO. Time and difficulties that took researcher of equivalent skilled for their experiments were decreased with LASER, and this might affect the improvement of embryonic development. (LASER, 6.2% versus PIEZO, 2.9%; P<0.05). Thus, these data support that the use of LASER can be used for zona pellucida piercing in murine SCNT program as an alternative to PIEZO.