Real-Time Holographic Tracking and Control of Microrobots

被引：17
|
作者：
Hong, Ayoung [1 ]
Zeydan, Burak [1 ]
Charreyron, Samuel [1 ]
Ergeneman, Olgac [1 ]
Pane, Salvador [1 ]
Toy, M. Fatih [2 ]
Petruska, Andrew J. [1 ]
Nelson, Bradley J. [1 ]
机构：
[1] Swiss Fed Inst Technol, Multiscale Robot Lab, CH-8092 Zurich, Switzerland
[2] Istanbul Medipol Univ, Sch Engn & Nat Sci, TR-34083 Istanbul, Turkey
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2017年 / 2卷 / 01期
基金：
欧洲研究理事会;
关键词：
Micro/Nano robots; visual servoing; localization; automation at micro-nano scales; IN-LINE HOLOGRAPHY; DIGITAL HOLOGRAPHY; MICROSCOPY; RECONSTRUCTION; MANIPULATION; ORGANISMS; CELLS; IMAGE; FOCUS;
D O I：
10.1109/LRA.2016.2579739
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Digital holography is used to track the three-dimensional position of a magnetic microrobot maneuvered in real time by means of an electromagnetic manipulation system. The method presented is able to process holograms at 40 Hz with a position accuracy in the imaging plane and in depth of +/- 23 and +/- 180 mu m, respectively. As this method does not require magnification, microrobots can be tracked in significantly larger working volumes than conventional optical methods. The performance of this tracking method is demonstrated by visually servoing a magnetic bead around a cubic trajectory.
引用
收藏
页码：143 / 148
页数：6
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