dc.contributor.authorLi, X.
dc.contributor.authorCheah, Chien Chern
dc.date.accessioned2013-07-10T04:46:30Z
dc.date.available2013-07-10T04:46:30Z
dc.date.copyright2012en_US
dc.date.issued2012
dc.identifier.citationLi, X., & Cheah C. C. (2012). Dynamic region control for robot-assisted cell manipulation using optical tweezers. 2012 IEEE International Conference on Robotics and Automation, 1057-1062.en_US
dc.identifier.urihttp://hdl.handle.net/10220/11100
dc.description.abstractCurrent 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.en_US
dc.language.isoenen_US
dc.rights©2012 IEEE.en_US
dc.subjectDRNTU::Engineering::Electrical and electronic engineering
dc.titleDynamic region control for robot-assisted cell manipulation using optical tweezersen_US
dc.typeConference Paper
dc.contributor.conferenceIEEE International Conference on Robotics and Automation (2012 : Saint Paul, Minnesota, US)en_US
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.identifier.doihttp://dx.doi.org/10.1109/ICRA.2012.6224930


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