Using GPUs for Realtime Prediction of Optical Forces on Microsphere Ensembles

Bista, Sujal; Chowdhury, Sagar; Gupta, Satyandra K.; Varshney, Amitabh

doi:10.1115/1.4023862

Cited by 9 publications

(2 citation statements)

References 33 publications

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“…Microfluidics [ 1 ], electrostatic [ 2 ], magnetic manipulation [ 3 , 4 ], Atomic Force Microscopy (AFM) [ 5 ], optical tweezers (OT) [ 6 , 7 , 8 ], fixed manipulators [ 9 , 10 ], and micro-grippers [ 11 ] are some of the enabling technologies proposed for micro and nanoscale manipulation. Many of these technologies (e.g., OT, magnetic manipulation, etc .)…”

Section: Introductionmentioning

confidence: 99%

Towards Independent Control of Multiple Magnetic Mobile Microrobots

2015

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In this paper, we have developed an approach for independent autonomous navigation of multiple microrobots under the influence of magnetic fields and validated it experimentally. We first developed a heuristics based planning algorithm for generating collision-free trajectories for the microrobots that are suitable to be executed by an available magnetic field. Second, we have modeled the dynamics of the microrobots to develop a controller for determining the forces that need to be generated for the navigation of the robots along the trajectories at a suitable control frequency. Next, an optimization routine is developed to determine the input currents to the electromagnetic coils that can generate the required forces for the navigation of the robots at the controller frequency. We then validated our approach by simulating an electromagnetic system that contains an array of sixty-four magnetic microcoils designed for generating local magnetic fields suitable for simultaneous independent actuation of multiple microrobots. Finally, we prototyped an mm-scale version of the system and present experimental results showing the validity of our approach.

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Section: Introductionmentioning

confidence: 99%

Towards Independent Control of Multiple Magnetic Mobile Microrobots

2015

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“…This is ensured by choosing an operating speed using which the beads can be reliably trapped and moved by the laser traps [43,44]. …”

Section: Assumptionsmentioning

confidence: 99%

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

Chowdhury

Thakur

Švec

et al. 2014

IEEE Trans. Automat. Sci. Eng.

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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 micro-scale. 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 predefined maneuvers. 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 speed 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 micro-particles. The method presented in the paper is especially useful for accurately placing cells in an array for biological experiments.

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