Robotic manipulation of micro-particles

• Main Author: Liu, Zhaofang
• Other Authors: Cheah Chien Chern
• Format: Final Year Project
• Language: English
• Published: 2017
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: http://hdl.handle.net/10356/71297
• Institution: Nanyang Technological University

In recent decades, optical tweezers have been integrated with the robotic-aided control techniques for manipulating micro-particles to further fulfill applications in the fields of biomedical and biophysics. However, due to Brownian Motion Theory, micro-particles can be moving in any random directions. Besides that, in the process of manipulating cells, the optical trapping force is extremely small, typically in the range of piconewton (pN). All these may lead the manipulation of cells in an ineffective way. This report analyze the effect of the Brownian motion on the manipulations of the optical objects. Theoretical and experimental approaches are present in this report to analyze the some of the limitations encountered in the trapping problem. Lastly, with automatic manipulation techniques, an appropriate maximum manipulation velocity, is also known as escape velocity, is designed to ensure the optical object stay trappable within the given manipulation time.