e-journal

Research in Automated Planning and Control for Micromanipulation

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Manipulation of microscopic objects, especially biological objects and microelectromechanical systems (MEMS) components, has become an important area of robotics research over the past several years. Automation is necessary as it is challenging to manually control the microobjects due to the scaling effect of the surface forces, stochastic motion of objects in fluid media, and uncertainty associated with object state estimation. Automation requires real-time control of the position, orientation, and force applied by each of the operational manipulators, as governed by the system-level objectives of optimizing resource, time, and effort, by planning suitable actions for the manipulated objects. In this
paper, we provide a survey of the research in planning and control of such automated micromanipulation operations.We present a broad taxonomy based on the underlying approach, and discuss the salient features and experimental success of each research effort. We also identify the major limitations and common trends across all the approaches, discuss the effectiveness of an approach depending on the operation characteristics, and outline promising future research directions.
Note to Practitioners— Micromanipulation is becoming a valuable tool in developing advanced devices by enabling use of novel objects with enhanced material characteristics and assembly of heterogeneous components. It is also leading to fundamental breakthroughs in physiology and medicine by facilitating cell signaling studies, tumor immunology, and targeted drug delivery. Automation, achieved through planning and control, ismandatory for widespread adoption of micromanipulation in both industries
and clinical laboratories. This paper provides a survey of the research in this topic that would help practitioners in understanding the key contributions and shortcomings of the existing approaches,
and assessing the utility of a particular approach under various operating conditions.
Index Terms—Automated operations, biomanipulation, intelligent control, microassembly, microrobots, microsystem dynamics, path planning.

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Informasi Detail

Judul Seri

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING

No. Panggil

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Penerbit

New York : IEEE., 2013

Deskripsi Fisik

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, VOL. 10, NO. 3, JULY 2013

Bahasa

English

ISBN/ISSN

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Klasifikasi

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Tipe Isi

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Tipe Media

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Tipe Pembawa

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Edisi

VOL. 10, NO. 3

Subjek

TEKNIK

Info Detail Spesifik

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Pernyataan Tanggungjawab

yuli/agus

Versi lain/terkait

Lampiran Berkas

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