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Automated Manipulation of Biological Cells Using Gripper Formations Controlled By Optical Tweezers

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The capability of noninvasive and precise micromanipulation of sensitive, living cells is necessary for understanding their underlying biological processes. Optical tweezers (OT) is an effective tool that uses highly focused laser beams for accurate manipulation of cells and dielectric beads at microscale. However, direct exposure of the laser beams on the cells can negatively influence their behavior or even cause a photo-damage. In this paper, we introduce a control and planning approach for automated, indirect
manipulation of cells using silica beads arranged into gripper formations. The developed approach employs path planning and feedback control for efficient, collision-free transport of a cell between two specified locations. The planning component of the approach computes a path that explicitly respects the nonholonomic constraints of the gripper formations. The feedback control component ensures stable tracking of the path by manipulating the cell using a set of predefinedmaneuvers.We demonstrate the effectiveness of the approach by transporting a yeast cell using four different types of gripper formations along collision-free paths on our OT setup. We analyzed the performance of the proposed gripper
formations with respect to their maximum transport speeds and the laser intensity experienced by the cell that depends on the laser power used.
Note to Practitioners—This paper presents computational tools necessary for automated cell micromanipulation using Optical Tweezers. Autonomy in optical manipulation enables us to realize
a method for fast and accurate placement of microparticles. The method presented in this paper is especially useful for accurately placing cells in an array for biological experiments.
Index Terms—Cell viability, indirect manipulation,motion planning, optical tweezers, yeast manipulation.

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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., 2014

Deskripsi Fisik

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, VOL. 11, NO. 2, APRIL 2014

Bahasa

English

ISBN/ISSN

1545-5955

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. 11, NO. 2, APRIL 2014

Subjek

TEKNIK

Info Detail Spesifik

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Pernyataan Tanggungjawab

Yuli/Agus

Versi lain/terkait

Lampiran Berkas

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