Towards Automated Robot-Based Nanohandling
One of the key challenges of microsystem-and nanotechnologies is the automation of robot-based nanomanipulation. However, there is limited sensor feedback due to lack of appropriate sensors. Sensor feedback is required for repeatable actuator movements from macro-down to the nanoscale. This complicates the design of reliable automation processes. In this paper, the development of an automated robot-based toolbox for cell injection and handling is presented. This toolbox includes several sensor methods, bridging several orders of magnitude as feedback for automation. A non-linear support vector machine (SVM) is applied for classi.cation of the viability of cells as feedback for quality control. A visual servoing algorithm for position tracking of the injection needle as well as an injection force sensor have been developed. First automation results and the control system are explained.
Nanohandling cell classification visual servoing force-sensing distributed control architecture
Fatikow S. Wortmann T. Mikczinski M. Dahmen C. Stolle C.
Division Microrobotics and Control Engineering (AMiR),University of Oldenburg,Germany
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
5039-5044
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）