Abstract
This paper presents a novel flocking framework for the manipulation of micro-scale particles with robotics and optical tweezers technologies. A region-based flocking algorithm is used to calculate the particles' trajectories. The optical tweezers are used to trap and move the particles along generated trajectories. All particles can be gradually moved into a pre-defined region. The main contribution of this paper lies in the proposal of using multi-agent solution to address the flocking problem of particles in micro environment. The proposed framework can be applied to many bio-applications such as cell sorting, cell property characterization, and so on, with high throughput and precision. Experiments on micro-scale particles with a robot-tweezers system are finally performed to verify the effectiveness of the proposed approach. ©2010 IEEE.
Original language | English |
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Title of host publication | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings |
Pages | 6155-6160 |
DOIs | |
Publication status | Published - 2010 |
Event | 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan Duration: 18 Oct 2010 → 22 Oct 2010 |
Conference
Conference | 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 |
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Country/Territory | Taiwan |
City | Taipei |
Period | 18/10/10 → 22/10/10 |