Sciweavers

Share
ICRA
2008
IEEE

A new framework for microrobotic control of motile cells based on high-speed tracking and focusing

8 years 8 months ago
A new framework for microrobotic control of motile cells based on high-speed tracking and focusing
— We propose a new framework and novel visual control system for motile cells in three-dimensional (3-D) space. Our goal is to utilize microorganisms as micro-robots in various applications by exploiting galvanotaxis (locomotor response to electrical stimulus) to actuate them. This requires automated motion control of swimming cells in 3-D space; in contrast, our previous work has been limited to 1-D or 2-D motion control on the focal plane. The system is capable of 3-D tracking and control of swimming cells by utilizing a high-speed vision system. A combination of “lock-on” tracking within the focal plane and automated focusing using a Depth-From-Diffraction method executed at 1-kHz frame rate ensures both detailed measurement and a large working space. Experimental results for closed-loop 3-D motion control of Paramecium cells trapped within a small 3-D region demonstrate the possibility of using microorganisms as micromachines.
Takeshi Hasegawa, Naoko Ogawa, Hiromasa Oku, Masat
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Takeshi Hasegawa, Naoko Ogawa, Hiromasa Oku, Masatoshi Ishikawa
Comments (0)
books