Towards Automated Robot-Based Nanohandling
作者单位：Division Microrobotics and Control Engineering（AMiR）University of OldenburgGermany
会议名称：《2009中国控制与决策会议》
主办单位：NE Univ;IEEE Ind Elect Singapore Chapter;Guilin Univ Elect Technol;IEEE Control Syst Soc;IEEE Ind Elect Soc
会议日期：2009年
学科分类：0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0701[理学-数学] 0812[工学-计算机科学与技术（可授工学、理学学位）]
基 金：the European Commission FP6 Integrated Project HYDROMEL
关 键 词：Nanohandling cell classification visual servoing force-sensing distributed control architecture
摘 要：正One of the key challenges of microsystem- and nanotechnologies is the automation of robot-based nanomanipulation. However,there is limited sensor feedback due to lack of appropriate *** feedback is required for repeatable actuator movements from macro- down to the *** complicates the design of reliable automation *** this paper,the development of an automated robot-based toolbox for cell injection and handling is presented. This toolbox includes several sensor methods,bridging several orders of magnitude as feedback for automation. A non-linear support vector machine（SVM） is applied for classification of the viability of cells as feedback for quality control.A visual servoing algorithm for position tracking of the injection needle as well as an injection force sensor have been *** automation results and the control system are explained.