Automated in-vivo transportation of biological cells with a disturbance compensation controller

Xiaojian Li; Chichi Liu; Shuxun Chen; Yong Wang; Shuk Han Cheng; Dong Sun

doi:10.1109/IROS.2016.7759398

Automated in-vivo transportation of biological cells with a disturbance compensation controller

Xiaojian Li
, Chichi Liu
, Shuxun Chen
, Yong Wang
, Shuk Han Cheng
, Dong Sun

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

Manipulation of micro/nano-scaled particles have attracted increasing attention in recent years. To accommodate complex in-vivo environment, robot-aided automated manipulation technology is highly demanded in trapping and controlling micro/nano-particles stably and effectively. This paper presents an in-vivo cell manipulation system, where a disturbance compensation controller is utilized to minimize the effect of fluid (e.g., blood flow) on the cell. The controller has exhibited advantages in adjusting cell tracking trajectory online, minimizing the steady-state error, and eliminating overshoot. Simulation and experimental results verify the performance of the controller.

Original language	English
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages	2561-2566
Number of pages	6
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759398
Publication status	Published - 28 Nov 2016
Externally published	Yes
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2016-November
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16

Keywords

Closed-loop control
Disturbance compensation controller
In vivo cell manipulation
Optical tweezers

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10.1109/IROS.2016.7759398

Cite this

Li, X., Liu, C., Chen, S., Wang, Y., Cheng, S. H., & Sun, D. (2016). Automated in-vivo transportation of biological cells with a disturbance compensation controller. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2561-2566). Article 7759398 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November). https://doi.org/10.1109/IROS.2016.7759398

@inproceedings{9c267fe8496f48a69f6e41b5e63d323b,

title = "Automated in-vivo transportation of biological cells with a disturbance compensation controller",

abstract = "Manipulation of micro/nano-scaled particles have attracted increasing attention in recent years. To accommodate complex in-vivo environment, robot-aided automated manipulation technology is highly demanded in trapping and controlling micro/nano-particles stably and effectively. This paper presents an in-vivo cell manipulation system, where a disturbance compensation controller is utilized to minimize the effect of fluid (e.g., blood flow) on the cell. The controller has exhibited advantages in adjusting cell tracking trajectory online, minimizing the steady-state error, and eliminating overshoot. Simulation and experimental results verify the performance of the controller.",

keywords = "Closed-loop control, Disturbance compensation controller, In vivo cell manipulation, Optical tweezers",

author = "Xiaojian Li and Chichi Liu and Shuxun Chen and Yong Wang and Cheng, \{Shuk Han\} and Dong Sun",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016",

year = "2016",

month = nov,

day = "28",

doi = "10.1109/IROS.2016.7759398",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "2561--2566",

booktitle = "IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems",

}

Li, X, Liu, C, Chen, S, Wang, Y, Cheng, SH & Sun, D 2016, Automated in-vivo transportation of biological cells with a disturbance compensation controller. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems., 7759398, IEEE International Conference on Intelligent Robots and Systems, vol. 2016-November, pp. 2561-2566, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759398

Automated in-vivo transportation of biological cells with a disturbance compensation controller. / Li, Xiaojian; Liu, Chichi; Chen, Shuxun et al.
IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2016. p. 2561-2566 7759398 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Automated in-vivo transportation of biological cells with a disturbance compensation controller

AU - Li, Xiaojian

AU - Liu, Chichi

AU - Chen, Shuxun

AU - Wang, Yong

AU - Cheng, Shuk Han

AU - Sun, Dong

PY - 2016/11/28

Y1 - 2016/11/28

N2 - Manipulation of micro/nano-scaled particles have attracted increasing attention in recent years. To accommodate complex in-vivo environment, robot-aided automated manipulation technology is highly demanded in trapping and controlling micro/nano-particles stably and effectively. This paper presents an in-vivo cell manipulation system, where a disturbance compensation controller is utilized to minimize the effect of fluid (e.g., blood flow) on the cell. The controller has exhibited advantages in adjusting cell tracking trajectory online, minimizing the steady-state error, and eliminating overshoot. Simulation and experimental results verify the performance of the controller.

AB - Manipulation of micro/nano-scaled particles have attracted increasing attention in recent years. To accommodate complex in-vivo environment, robot-aided automated manipulation technology is highly demanded in trapping and controlling micro/nano-particles stably and effectively. This paper presents an in-vivo cell manipulation system, where a disturbance compensation controller is utilized to minimize the effect of fluid (e.g., blood flow) on the cell. The controller has exhibited advantages in adjusting cell tracking trajectory online, minimizing the steady-state error, and eliminating overshoot. Simulation and experimental results verify the performance of the controller.

KW - Closed-loop control

KW - Disturbance compensation controller

KW - In vivo cell manipulation

KW - Optical tweezers

UR - https://www.scopus.com/pages/publications/85006339749

U2 - 10.1109/IROS.2016.7759398

DO - 10.1109/IROS.2016.7759398

M3 - Conference contribution

AN - SCOPUS:85006339749

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 2561

EP - 2566

BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems

T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

Y2 - 9 October 2016 through 14 October 2016

ER -

Automated in-vivo transportation of biological cells with a disturbance compensation controller

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