POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers
With high throughput and high flexibility, optoelectronic tweezers (OETs) hold huge potential for massively parallel micromanipulation. However, the trajectory of the virtual electrode has been planned in advance in most synchronous manipulations for multiple targets based on an optically induced di...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
American Association for the Advancement of Science (AAAS)
2022-01-01
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| Series: | Cyborg and Bionic Systems |
| Online Access: | http://dx.doi.org/10.34133/2022/9890607 |
| _version_ | 1817971347765067776 |
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| author | Jiaxin Liu Huaping Wang Menghua Liu Ran Zhao Yanfeng Zhao Tao Sun Qing Shi |
| author_facet | Jiaxin Liu Huaping Wang Menghua Liu Ran Zhao Yanfeng Zhao Tao Sun Qing Shi |
| author_sort | Jiaxin Liu |
| collection | DOAJ |
| description | With high throughput and high flexibility, optoelectronic tweezers (OETs) hold huge potential for massively parallel micromanipulation. However, the trajectory of the virtual electrode has been planned in advance in most synchronous manipulations for multiple targets based on an optically induced dielectrophoresis (ODEP) mechanism, which is insufficient to ensure the stability and efficiency in an environment with potential collision risk. In this paper, a synchronously discretized manipulation method based on a centralized and decoupled path planner is proposed for transporting microparticles of different types with an OET platform. An approach based on the Kuhn-Munkres algorithm is utilized to achieve the goal assignment between target microparticles and goal positions. With the assistance of a visual feedback module, a path planning approach based on the POMDP algorithm dynamically determines the motion strategies of the particle movement to avoid potential collisions. The geometrical parameters of the virtual electrodes are optimized for different types of particles with the goal of maximum transport speed. The experiments of micropatterning with different morphologies and transporting multiple microparticles (e.g., polystyrene microspheres and 3T3 cells) to goal positions are performed. These results demonstrate that the proposed manipulation method based on optoelectronic tweezers is effective for multicell transport and promises to be used in biomedical manipulation tasks with high flexibility and efficiency. |
| first_indexed | 2024-04-13T20:45:39Z |
| format | Article |
| id | doaj.art-cac4d14e7f594834b5fdc92296e72a8f |
| institution | Directory Open Access Journal |
| issn | 2692-7632 |
| language | English |
| last_indexed | 2024-04-13T20:45:39Z |
| publishDate | 2022-01-01 |
| publisher | American Association for the Advancement of Science (AAAS) |
| record_format | Article |
| series | Cyborg and Bionic Systems |
| spelling | doaj.art-cac4d14e7f594834b5fdc92296e72a8f2022-12-22T02:30:42ZengAmerican Association for the Advancement of Science (AAAS)Cyborg and Bionic Systems2692-76322022-01-01202210.34133/2022/9890607POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic TweezersJiaxin Liu0Huaping Wang1Menghua Liu2Ran Zhao3Yanfeng Zhao4Tao Sun5Qing Shi6Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, ChinaIntelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaIntelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaIntelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Medical Technology, Beijing Institute of Technology, Beijing 100081, ChinaBeijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, ChinaWith high throughput and high flexibility, optoelectronic tweezers (OETs) hold huge potential for massively parallel micromanipulation. However, the trajectory of the virtual electrode has been planned in advance in most synchronous manipulations for multiple targets based on an optically induced dielectrophoresis (ODEP) mechanism, which is insufficient to ensure the stability and efficiency in an environment with potential collision risk. In this paper, a synchronously discretized manipulation method based on a centralized and decoupled path planner is proposed for transporting microparticles of different types with an OET platform. An approach based on the Kuhn-Munkres algorithm is utilized to achieve the goal assignment between target microparticles and goal positions. With the assistance of a visual feedback module, a path planning approach based on the POMDP algorithm dynamically determines the motion strategies of the particle movement to avoid potential collisions. The geometrical parameters of the virtual electrodes are optimized for different types of particles with the goal of maximum transport speed. The experiments of micropatterning with different morphologies and transporting multiple microparticles (e.g., polystyrene microspheres and 3T3 cells) to goal positions are performed. These results demonstrate that the proposed manipulation method based on optoelectronic tweezers is effective for multicell transport and promises to be used in biomedical manipulation tasks with high flexibility and efficiency.http://dx.doi.org/10.34133/2022/9890607 |
| spellingShingle | Jiaxin Liu Huaping Wang Menghua Liu Ran Zhao Yanfeng Zhao Tao Sun Qing Shi POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers Cyborg and Bionic Systems |
| title | POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers |
| title_full | POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers |
| title_fullStr | POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers |
| title_full_unstemmed | POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers |
| title_short | POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers |
| title_sort | pomdp based real time path planning for manipulation of multiple microparticles via optoelectronic tweezers |
| url | http://dx.doi.org/10.34133/2022/9890607 |
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