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Title: Automatic vision-guided robotic cell micromanipulation system
Authors: Zhang, Yanliang
Keywords: DRNTU::Engineering::Mechanical engineering::Control engineering
Issue Date: 2010
Source: Zhang, Y. L. (2010). Automatic vision-guided robotic cell micromanipulation system. Doctoral thesis, Nanyang Technological University, Singapore.
Abstract: In life science research and applications such as cell mechanobiology, cell micromanipulation is skill-intensive, involving cell immobilization, micropipette positioning, cell biomembrane deformation and penetration, etc. The imprecise and inconsistent positioning in manual cell micromanipulation and biomembrane stress control demands a vision-guided robotic system to achieve high-accuracy static position control and dynamic motion tracking. This dissertation emphasizes the various techniques in realizing the aforementioned system. Calibration of a vision system is necessary to ensure accurate coordinate systems transformation. Automatic self-calibration without the aid of calibration templates is proposed to achieve on-line calibration for real-time applications. The difference between the measured output and computed output after calibration is less than the physical resolution of the vision system.
DOI: 10.32657/10356/41538
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Theses

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