A Virtual-Assisted Controller for Biological Cell Transportation in a Dynamic Environment With Variable Field of View

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

5 Scopus Citations
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Detail(s)

Original languageEnglish
Article number8990023
Pages (from-to)1255-1265
Journal / PublicationIEEE/ASME Transactions on Mechatronics
Volume25
Issue number3
Online published10 Feb 2020
Publication statusPublished - Jun 2020

Abstract

Existing control methods for cell transportation with optical tweezers are generally implemented under the following assumptions: The obstacles are known in advance; and that the field of view (FOV) of the microscope is fixed during the transportation process. The unknown obstacles suspended outside FOV may float closely to the targeted cell, thereby always leading to failure of existing transportation methods. Fixed FOV also restricts the available manipulation space, thereby limiting the transportation within a small area. In this article, a novel control method that abandons the mentioned impractical assumptions is designed. The approach integrates the functions of cell transportation, cell maintenance, and obstacle avoidance. A series of virtual-assisted geometrical models, including 'virtual obstacles,' 'protecting ring,' and 'time varying reference region' are proposed to avoid unknown dynamic obstacles. Simulations and experiments on long-distance cell transportation with variable FOV, in accordance with the actual situation, are successfully performed. Therefore, the effectiveness of the proposed control method is demonstrated.

Research Area(s)

  • Cell manipulation, dynamic environment, optical tweezers, variable field of view

Citation Format(s)

A Virtual-Assisted Controller for Biological Cell Transportation in a Dynamic Environment With Variable Field of View. / Yang, Hao; Li, Xiaojian; Li, Xiangpeng; Sun, Lining; Sun, Dong.

In: IEEE/ASME Transactions on Mechatronics, Vol. 25, No. 3, 8990023, 06.2020, p. 1255-1265.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review