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
Author(s)
Related Research Unit(s)
Detail(s)
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2561-2566 |
| Volume | 2016-November |
| ISBN (Print) | 9781509037629 |
| Publication status | Published - 28 Nov 2016 |
Publication series
| Name | |
|---|---|
| Volume | 2016-November |
| ISSN (Print) | 2153-0858 |
| ISSN (Electronic) | 2153-0866 |
Conference
| Title | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 |
|---|---|
| Location | Daejeon Convention Center |
| Place | Korea, Republic of |
| City | Daejeon |
| Period | 9 - 14 October 2016 |
Link(s)
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
