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

页码：143 / 148

页数：6

共 50 条

[31] REAL-TIME TARGET TRACKING
BAUMELA, L
MARAVALL, D
IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE, 1995, 10 (07) : 4 - 7
[32] REAL-TIME TRACKING OF MICROORGANISMS
HADER, DP
BINARY-COMPUTING IN MICROBIOLOGY, 1994, 6 (03): : 81 - 86
[33] Identification and tracking control of aircraft from real-time perspectives
Lyshevski, SE
Dunipace, KR
PROCEEDINGS OF THE 1997 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 1997, : 499 - 504
[34] MODELLING AND REAL-TIME TRACKING CONTROL OF HIGH PRECISION SERVOMOTOR
Ismail, Hashimah
Ishak, Norlela
Tajjudin, Mazidah
Adnan, Ramli
FOURTH INTERNATIONAL CONFERENCE ON COMPUTER AND ELECTRICAL ENGINEERING (ICCEE 2011), 2011, : 141 - +
[35] Real-time tracking with classifiers
Chateau, Thierry
Gay-Belille, Vincent
Chausse, Frederic
Lapreste, Jean-Thierry
DYNAMICAL VISION, 2007, 4358 : 218 - +
[36] Real-time flu tracking
Schmidt C.
Nature, 2019, 573 (7774) : S58 - S59
[37] Real-Time Compressive Tracking
Zhang, Kaihua
Zhang, Lei
Yang, Ming-Hsuan
COMPUTER VISION - ECCV 2012, PT III, 2012, 7574 : 864 - 877
[38] A Neurodynamics Control Strategy for Real-Time Tracking Control of Autonomous Underwater Vehicles
Zhu, Daqi
Hua, Xun
Sun, Bing
JOURNAL OF NAVIGATION, 2014, 67 (01): : 113 - 127
[39] A neurodynamics control strategy for real-time tracking control of autonomous underwater vehicle
Hua, Xun
Zhu, Daqi
Cao, Xiang
2013 25TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2013, : 5153 - 5158
[40] Real-time Holographic Deconvolution for Image Differentiation
Khoury, Jed
PATTERN RECOGNITION AND TRACKING XXIX, 2018, 10649

← 1 2 3 4 5 →