Design of an Automated Controller with Collision-avoidance Capability for in-vivo Transportation of Biological Cells

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
View graph of relations

Author(s)

Detail(s)

Original languageEnglish
Title of host publicationIROS VANCOUVER 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationConference Digest
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1146-1151
ISBN (Electronic)9781538626825
ISBN (Print)9781538626818, 9781538626832
Publication statusPublished - Sep 2017

Publication series

Name
ISSN (Electronic)2153-0866

Conference

Title2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
LocationVancouver Convention Centre
PlaceCanada
CityVancouver, BC
Period24 - 28 September 2017

Abstract

As the rapid development of precision medicine, in-vivo manipulation of micro/nano-scaled particles has attracted increasing attention in recent years. The collision is one of the main reasons that falls the in-vivo particle transportation fail. In this paper, we develop an in-vivo cell transportation control approach using a robotically controlled optical tweezers manipulation system, where a so-called wide-area image gradient algorithm is used to avoid collision of the transported cell with other obstacles. The controller exhibits advantages of the reduced online calculation for collision avoidance, fast response, high accuracy, as well as an ability to compensate the environmental disturbance caused by blood flow. Simulation and experimental results are presented to demonstrate the effectiveness of the proposed controller.

Research Area(s)

  • closed-loop control, collision avoidance, disturbance compensation, In-vivo cell manipulation, optical tweezers

Citation Format(s)

Design of an Automated Controller with Collision-avoidance Capability for in-vivo Transportation of Biological Cells. / Li, Xiaojian; Chen, Shuxun; Wang, Yong et al.

IROS VANCOUVER 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems: Conference Digest. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1146-1151 8202286.

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