Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/83787
Title: Vision based optical manipulation of biological cell with unknown trapping stiffness
Authors: Li, Xiang
Cheah, Chien Chern
Kamal, Sayyed Omar
Keywords: Laser beams
Charge carrier processes
Issue Date: 2014
Source: Li, X., Cheah, C. C., & Kamal, S. O. (2014). Vision based optical manipulation of biological cell with unknown trapping stiffness. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 493-498.
Abstract: Current robotic manipulation techniques for optical tweezers assume that the trapping stiffness of optical trap is constant and exactly known. In addition, the dynamic interaction between the cell and the manipulator of laser source is usually ignored in the analysis of the optical manipulation problem. In this paper, a control scheme is proposed for optical manipulation of biological cell with unknown trapping stiffness, which allows the laser beam to automatically trap and manipulate the cell to a desired position. The requirement on the model of the trapping stiffness is eliminated in the proposed formulation and thus system identification and calibration are not needed. The stability of the overall system is analyzed by using Lyapunov-like method, with consideration of the dynamics of both the cell and the manipulator of laser source. Experimental results are presented to illustrate the performance of the proposed cell manipulation method.
URI: https://hdl.handle.net/10356/83787
http://hdl.handle.net/10220/41456
DOI: 10.1109/ROBIO.2014.7090379
Rights: © 2016 IEEE.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Conference Papers

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