A vision based application is proposed for a line following mobile robot. A low-cost Webcam is used as the sensor and the image buffers are processed via a customized image segregation method to output necessary information for the mobile robot's controller under uncontrollable lighting condition. The task is to allow the mobile robot to navigate through a predefined path marked by a white line on a dark green floor surface. Experimental results shows that the mobile robot successfully able to navigate throughout the provided path. This technique is robust, reliable and easily modified for used in any other applications, such in industrial applications where costly sensors and transducers are normally used.

Cell-tracking method has an important role in detection of metastatic circulating tumor cells (CTCs) and cell-based therapies. Label-free imaging techniques are desirable for cell-tracking because they enable long time observations without photobleaching in living cells or tissues where labeling is not always possible. Photoacoustic microscopy is a label-free imaging technique that o ers rich contrast based on non uorescent cellular optical absorption associated with intrinsic chromophores and pigments. We show here that photoacoustic imaging is feasible for detecting very low numbers (× 10 ) of melanoma cells without labeling because of the strong instinct optical absorption of melanin in near-infrared wavelength. Flowing melanoma cells are imaged with micrometerresolution (40 µm) and penetration depths of centimeters (13 mm) in real-time. Photoacoustic imaging as a new cell-tracking method provides a novel modality for cancer screening and o ers insights into the underlying biological process of cancer growth and metastasis and cell therapy.

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