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

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)peer-review

3 Scopus Citations
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Author(s)

  • Chichi Liu
  • Shuxun Chen
  • Yong Wang

Detail(s)

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2561-2566
Volume2016-November
ISBN (Print)9781509037629
Publication statusPublished - 28 Nov 2016

Publication series

Name
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Title2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
LocationDaejeon Convention Center
PlaceKorea, Republic of
CityDaejeon
Period9 - 14 October 2016

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.

Research Area(s)

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

Citation Format(s)

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 Institute of Electrical and Electronics Engineers Inc., 2016. p. 2561-2566.

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)peer-review