Automated in-vivo transportation of biological cells with a disturbance compensation controller

Xiaojian Li; Chichi Liu; Shuxun Chen; Yong Wang; Shuk Han Cheng; Dong Sun

doi:10.1109/IROS.2016.7759398

Automated in-vivo transportation of biological cells with a disturbance compensation controller

Xiaojian Li
, Chichi Liu
, Shuxun Chen
, Yong Wang
, Shuk Han Cheng
, Dong Sun

Department of Biomedical Sciences

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

5 Citations (Scopus)

Abstract

Manipulation of micro/nano-scaled particles have attracted increasing attention in recent years. To accommodate complex in-vivo environment, robot-aided automated manipulation technology is highly demanded in trapping and controlling micro/nano-particles stably and effectively. This paper presents an in-vivo cell manipulation system, where a disturbance compensation controller is utilized to minimize the effect of fluid (e.g., blood flow) on the cell. The controller has exhibited advantages in adjusting cell tracking trajectory online, minimizing the steady-state error, and eliminating overshoot. Simulation and experimental results verify the performance of the controller.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	2561-2566
Volume	2016-November
ISBN (Print)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759398
Publication status	Published - 28 Nov 2016
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) - Daejeon Convention Center, Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 http://www.iros2016.org http://www.iros2016.org/

Publication series

Name
Volume	2016-November
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16
Internet address	http://www.iros2016.org http://www.iros2016.org/

Research Keywords

Closed-loop control
Disturbance compensation controller
In vivo cell manipulation
Optical tweezers

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10.1109/IROS.2016.7759398

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@inproceedings{eeb68441e0be4a6eab39bb3635772f58,

title = "Automated in-vivo transportation of biological cells with a disturbance compensation controller",

abstract = "Manipulation of micro/nano-scaled particles have attracted increasing attention in recent years. To accommodate complex in-vivo environment, robot-aided automated manipulation technology is highly demanded in trapping and controlling micro/nano-particles stably and effectively. This paper presents an in-vivo cell manipulation system, where a disturbance compensation controller is utilized to minimize the effect of fluid (e.g., blood flow) on the cell. The controller has exhibited advantages in adjusting cell tracking trajectory online, minimizing the steady-state error, and eliminating overshoot. Simulation and experimental results verify the performance of the controller.",

keywords = "Closed-loop control, Disturbance compensation controller, In vivo cell manipulation, Optical tweezers",

author = "Xiaojian Li and Chichi Liu and Shuxun Chen and Yong Wang and Cheng, \{Shuk Han\} and Dong Sun",

year = "2016",

month = nov,

day = "28",

doi = "10.1109/IROS.2016.7759398",

language = "English",

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volume = "2016-November",

publisher = "IEEE",

pages = "2561--2566",

booktitle = "IEEE International Conference on Intelligent Robots and Systems",

address = "United States",

note = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) ; Conference date: 09-10-2016 Through 14-10-2016",

url = "http://www.iros2016.org, http://www.iros2016.org/",

}

Li, X, Liu, C, Chen, S, Wang, Y, Cheng, SH & Sun, D 2016, Automated in-vivo transportation of biological cells with a disturbance compensation controller. in IEEE International Conference on Intelligent Robots and Systems. vol. 2016-November, IEEE, pp. 2561-2566, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759398

Automated in-vivo transportation of biological cells with a disturbance compensation controller. / Li, Xiaojian; Liu, Chichi; Chen, Shuxun et al.
IEEE International Conference on Intelligent Robots and Systems. Vol. 2016-November IEEE, 2016. p. 2561-2566.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Automated in-vivo transportation of biological cells with a disturbance compensation controller

AU - Li, Xiaojian

AU - Liu, Chichi

AU - Chen, Shuxun

AU - Wang, Yong

AU - Cheng, Shuk Han

AU - Sun, Dong

PY - 2016/11/28

Y1 - 2016/11/28

N2 - Manipulation of micro/nano-scaled particles have attracted increasing attention in recent years. To accommodate complex in-vivo environment, robot-aided automated manipulation technology is highly demanded in trapping and controlling micro/nano-particles stably and effectively. This paper presents an in-vivo cell manipulation system, where a disturbance compensation controller is utilized to minimize the effect of fluid (e.g., blood flow) on the cell. The controller has exhibited advantages in adjusting cell tracking trajectory online, minimizing the steady-state error, and eliminating overshoot. Simulation and experimental results verify the performance of the controller.

AB - Manipulation of micro/nano-scaled particles have attracted increasing attention in recent years. To accommodate complex in-vivo environment, robot-aided automated manipulation technology is highly demanded in trapping and controlling micro/nano-particles stably and effectively. This paper presents an in-vivo cell manipulation system, where a disturbance compensation controller is utilized to minimize the effect of fluid (e.g., blood flow) on the cell. The controller has exhibited advantages in adjusting cell tracking trajectory online, minimizing the steady-state error, and eliminating overshoot. Simulation and experimental results verify the performance of the controller.

KW - Closed-loop control

KW - Disturbance compensation controller

KW - In vivo cell manipulation

KW - Optical tweezers

UR - https://www.scopus.com/pages/publications/85006339749

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85006339749&origin=recordpage

U2 - 10.1109/IROS.2016.7759398

DO - 10.1109/IROS.2016.7759398

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781509037629

VL - 2016-November

SP - 2561

EP - 2566

BT - IEEE International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)

Y2 - 9 October 2016 through 14 October 2016

ER -

Automated in-vivo transportation of biological cells with a disturbance compensation controller

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