A Novel Allocation-based Formation Algorithm for Swarm of Micro-Scaled Particles
This paper presents a novel formation framework for the manipulation of micro-scaled particles with robotics and optical tweezers technologies. An allocation-based formation algorithm is used to calculate particles’ trajectories. Along the trajectories, particles are trapped and moved by optical tweezers. Particles can be gradually moved into a pre-defined formation array. The main contribution of this paper lies in the proposal of using multi-agent solution to address the formation problem of particles in micro environment. The proposed framework can be applied to many bio-applications, such as cell sorting, cell transportation, cell-to-cell interaction study, etc., with high throughput and precision. Experiments on micro-scaled particles, with a robot-tweezer manipulation system, are performed to demonstrate the effectiveness of the proposed approach.
Haoyao Chen Jian Chen Dong Sun
Department of Mechanical engineering and Automation at the Harbin Institute of Technology Shenzhen G Department of Manufacturing Engineering and Engineering Management,City University of Hong Kong,Kowl
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1664-1669
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）