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Rapid separation and transfer of target cells from heterogeneous mixture to desired region have become a key issue in many biomedical applications. In this paper, we propose an approach to high speed cell transfer for sorting rare cells from a small population of samples accurately using a robotic manipulation system equipped with optical tweezers. A novel switching geometrical model is established...
In most manipulation techniques for optical tweezers, open-loop controllers are developed to move the laser source without consideration of the dynamic interaction between the cell and the manipulator of laser source. This technical note presents a simple PD control scheme for manipulation of cell using optical tweezers. We formulate a closed-loop setpoint control problem for optical tweezers and...
Multi-cellular aggregation is a fundamental phenomenon observed in many biological processes. Investigating cells aggregation helps us to have better understanding of many biological processes. Moreover, it is useful in finding cure for the diseases caused by cells aggregation. In this paper, we present a control methodology to obtain multi-cellular aggregation by using multiple optical trapping....
In this paper, a tracking control scheme is proposed for optical manipulation of biological cell with unknown trapping stiffness. 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 unknown trapping stiffness and the uncertain dynamic parameters are estimated separately, with on-line update...
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...
Microscopic optics and cameras are commonly used in micromanipulation or biomanipulation workstations since they provide a large spectrum of visual details and information. The visual feedback information also improves robustness to uncertainty and accuracy of micromanipulation. Among various micromanipulation systems, optical tweezers are one of the most useful instruments that utilize a focused...
Optical tweezer is a useful tool for non-contact micromanipulation tasks because it can manipulate biological cells precisely without causing damage to the cells. In many optical manipulation techniques, the measurement of the velocity of the cell is necessary. Since it is difficult to measure the velocity of the cell, the velocity information is usually obtained by differentiating the position of...
Current 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...
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