Imaging-guided collision-free transport of multiple optically trapped beads

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dc.contributor.author Rajasekaran, Keshav
dc.contributor.author Samani, Ekta Umesh
dc.contributor.author Stewart, John
dc.contributor.author Banerjee, Ashis G.
dc.contributor.other International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)
dc.coverage.spatial Montreal, CA
dc.date.accessioned 2017-09-02T08:52:38Z
dc.date.available 2017-09-02T08:52:38Z
dc.date.issued 2017-07-17
dc.identifier.citation Rajasekaran, Keshav; Samani, Ekta Umesh; Stewart, John and Banerjee, Ashis G., "Imaging-guided collision-free transport of multiple optically trapped beads", in the International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Montreal, CA, Jul. 17-21, 2016. en_US
dc.identifier.uri http://dx.doi.org/10.1109/MARSS.2017.8001940
dc.identifier.uri https://repository.iitgn.ac.in/handle/123456789/3106
dc.description.abstract Automation of an optical tweezers system is critical to fully leverage its immense multiplexing capabilities, which allows for highly precise and reliable manipulation of microscopic dielectric objects. Although there has been substantial work in this context, automation has been limited to only transporting a few objects at a time, particularly while ensuring collision avoidances with other freely diffusing objects in the workspace. In this paper, we provide the first step in addressing this limitation by developing a new algorithm that combines a model predictive controller with a fast grid search-based path planning method. We validate the usefulness of the presented method through experiments with silica beads in water. en_US
dc.description.statementofresponsibility by Keshav Rajasekaran, Ekta Umesh Samani, John Stewart and Ashis G. Banerjee
dc.language.iso en en_US
dc.publisher IEEE en_US
dc.subject Optical micromanipulation en_US
dc.subject Image processing en_US
dc.subject Model predictive control en_US
dc.subject D? Lite path planning en_US
dc.title Imaging-guided collision-free transport of multiple optically trapped beads en_US
dc.type Article en_US


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