Dynamic region control for robot-assisted cell manipulation using optical tweezers
Current manipulation techniques of optical tweezers treat the position of the laser beam as the control input and an open-loop kinematic controller is designed to move the laser source. In this paper, a closed-loop robotic control method for optical tweezers is formulated and solved. While robot...
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| Main Authors: | , |
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| Other Authors: | |
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2014
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/101717 http://hdl.handle.net/10220/18720 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Current manipulation techniques of optical tweezers
treat the position of the laser beam as the control input
and an open-loop kinematic controller is designed to move the
laser source. In this paper, a closed-loop robotic control method
for optical tweezers is formulated and solved. While robotic
manipulation has been a key technology driver in factory
automation, robotic manipulation of cells or nanoparticles is less
well understood. The proposed formulation shall bridge the gap
between traditional robot manipulation techniques and optical
manipulation techniques of cells. A dynamic region controller
is proposed for cell manipulation using optical tweezers. The
desired objective can be specified as a dynamic region rather
than a position or trajectory, and the desired region can thus be
scaled up and down to allow flexibility in the task specifications.
Experimental results are presented to illustrate the performance
of the proposed controller. |
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