Imaging-guided collision-free transport of multiple optically trapped beads

Rajasekaran, Keshav; Samani, Ekta U.; Stewart, John; Banerjee, Ashis G.

doi:10.1109/marss.2017.8001940

Cited by 5 publications

(3 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…To mention some results, in [5] a 3D force sensing method has been developed and used in an haptic interface to manipulate particles in 3D. In [6], a path planning method is proposed that can achieve scalable and collision-free manipulation of multiple particles in parallel. In [7], cells are manipulated indirectly using silica beads arranged in different formations.…”

Section: Introductionmentioning

confidence: 99%

Thermocapillary Convective Flows Generated by Laser Points or Patterns: Comparison for the Noncontact Micromanipulation of Particles at the Interface

Mallea

Piron

Bolopion

et al. 2018

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

Section: Introductionmentioning

confidence: 99%

Thermocapillary Convective Flows Generated by Laser Points or Patterns: Comparison for the Noncontact Micromanipulation of Particles at the Interface

Mallea

Piron

Bolopion

et al. 2018

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

“…With respect to motion control, recent representative works include a vision-based observer method for multiple cell transport [12], a proportional-derivative (PD) control strategy for single cell transport [13], a saturation controller for swarming motions of cells [14], a combined translational and rotational controller for cells [15], and a motorized stage-optical tweezers cooperative controller for multi-cell manipulation [16]. Other representative methods include a disturbance compensation controller for in vivo cell manipulation [17], a potential field controller for multi-stage cell transport [18], a neural network controller for object manipulation in the presence of unknown optical trapping stiffness [19], a model predictive controller for microsphere pattern formation [20,21], and independent actuation of fifty microrobots using optically generated thermal gradients [22].…”

Section: Introductionmentioning

confidence: 99%

An Accurate Perception Method for Low Contrast Bright Field Microscopy in Heterogeneous Microenvironments

et al. 2017

Self Cite

View full text Add to dashboard Cite

Automated optical tweezers-based robotic manipulation of microscale objects requires real-time visual perception for estimating the states, i.e., positions and orientations, of the objects. Such visual perception is particularly challenging in heterogeneous environments comprising mixtures of biological and colloidal objects, such as cells and microspheres, when the popular imaging modality of low contrast bright field microscopy is used. In this paper, we present an accurate method to address this challenge. Our method combines many well-established image processing techniques such as blob detection, histogram equalization, erosion, and dilation with a convolutional neural network in a novel manner. We demonstrate the effectiveness of our processing pipeline in perceiving objects of both regular and irregular shapes in heterogeneous microenvironments of varying compositions. The neural network, in particular, helps in distinguishing the individual microspheres present in dense clusters.

show abstract

“…O algoritmo é provado robusto e um bom otimizador neste caso. Rajasekaran et al (2017) utiliza processamento de imagem para definição de miçangas que serão movimentadas com o uso de pinças ópticas e dos obstáculos. A trajetória é calculada usando controle preditivo e em casos onde há obstáculos ao longo da trajetória calculada, a mesma é recalculada usando D* Lite.…”

Section: Introductionunclassified

Proposta de algoritmo otimizador de caminhos para manipuladores robóticos em ambientes com presença de obstáculos

Magalhães¹

View full text Add to dashboard Cite

Baseado na crescente utilização de manipuladores robóticos principalmente nas indústrias, surgiu-se a necessidade de inserir neles a capacidade de auto-otimização e reação ao ambiente. Assim, o presente trabalho propõe a criação de um algoritmo generalizado para diferentes anatomias de manipuladores, que seja capaz de mapear o ambiente, calculando um trajeto mínimo entre dois pontos desejados, utilizando movimentos suaves de junta e evitando colisões com possíveis obstáculos estáticos ou dinâmicos. Este algoritmo, denominado Otimizador de Caminhos para Manipuladores (POM), utiliza a fusão do método de Denavit-Hartenberg com os algoritmos D* Lite e CCD, com algumas modificações realizadas neles a fim de se adequarem ao funcionamento dos manipuladores. Os resultados obtidos a partir de diversos experimentos relatados neste documento comprovam a eficácia do método, apesar de ainda possuir algumas vulnerabilidades em relação ao mapeamento e definição de nós vizinhos.

show abstract

Imaging-guided collision-free transport of multiple optically trapped beads

Cited by 5 publications

References 29 publications

Thermocapillary Convective Flows Generated by Laser Points or Patterns: Comparison for the Noncontact Micromanipulation of Particles at the Interface

Thermocapillary Convective Flows Generated by Laser Points or Patterns: Comparison for the Noncontact Micromanipulation of Particles at the Interface

An Accurate Perception Method for Low Contrast Bright Field Microscopy in Heterogeneous Microenvironments

Proposta de algoritmo otimizador de caminhos para manipuladores robóticos em ambientes com presença de obstáculos

Contact Info

Product

Resources

About