A simple setpoint controller for dynamic manipulation of biological cells using optical tweezers
Optical tweezers are one of the most common and useful tools in non-contact cell manipulation. While several control methods have been developed for cell manipulation using optical tweezers, the control input is commonly treated as the position of the laser beam and open-loop controllers are...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2014
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/102909 http://hdl.handle.net/10220/19079 |
| _version_ | 1811682862712225792 |
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| author | Cheah, Chien Chern Li, Xiang Yan, X. Sun, D. Liaw, H. C. |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Cheah, Chien Chern Li, Xiang Yan, X. Sun, D. Liaw, H. C. |
| author_sort | Cheah, Chien Chern |
| collection | NTU |
| description | Optical tweezers are one of the most common and
useful tools in non-contact cell manipulation. While several
control methods have been developed for cell manipulation
using optical tweezers, the control input is commonly treated
as the position of the laser beam and open-loop controllers are
designed to move the laser source. Investigating the interaction
between the robotic manipulator of laser source and biological
cells can help us gain understanding into the dynamic
manipulation problem using optical tweezers. However, the
interaction between the cell dynamics and the manipulator
dynamics leads to a fourth-order overall dynamics, and the
use of high-order derivatives of the state variables is usually
required in the overall control input. In this paper, a simple
setpoint control method is proposed for optical manipulation
of biological cells. The proposed method is able to manipulate
the trapped cell to a desired position without using the highorder
derivatives of the state variables such as acceleration
and jerk. The stability of closed-loop system is analyzed by
using LaSalle’s invariance principle, with the consideration of
the dynamics of both the cell and the robotic manipulator. The
proposed control method is simple and easy to implement. Both
simulation and experimental results are presented to illustrate
the performance of the proposed control method. |
| first_indexed | 2024-10-01T04:03:35Z |
| format | Conference Paper |
| id | ntu-10356/102909 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:03:35Z |
| publishDate | 2014 |
| record_format | dspace |
| spelling | ntu-10356/1029092020-03-07T13:24:51Z A simple setpoint controller for dynamic manipulation of biological cells using optical tweezers Cheah, Chien Chern Li, Xiang Yan, X. Sun, D. Liaw, H. C. School of Electrical and Electronic Engineering IEEE Annual Conference on Decision and Control (CDC) (52th : 2013) DRNTU::Engineering::Electrical and electronic engineering Optical tweezers are one of the most common and useful tools in non-contact cell manipulation. While several control methods have been developed for cell manipulation using optical tweezers, the control input is commonly treated as the position of the laser beam and open-loop controllers are designed to move the laser source. Investigating the interaction between the robotic manipulator of laser source and biological cells can help us gain understanding into the dynamic manipulation problem using optical tweezers. However, the interaction between the cell dynamics and the manipulator dynamics leads to a fourth-order overall dynamics, and the use of high-order derivatives of the state variables is usually required in the overall control input. In this paper, a simple setpoint control method is proposed for optical manipulation of biological cells. The proposed method is able to manipulate the trapped cell to a desired position without using the highorder derivatives of the state variables such as acceleration and jerk. The stability of closed-loop system is analyzed by using LaSalle’s invariance principle, with the consideration of the dynamics of both the cell and the robotic manipulator. The proposed control method is simple and easy to implement. Both simulation and experimental results are presented to illustrate the performance of the proposed control method. Accepted version 2014-04-03T01:32:29Z 2019-12-06T21:02:08Z 2014-04-03T01:32:29Z 2019-12-06T21:02:08Z 2013 2013 Conference Paper Cheah, C. C., Li, X., Yan, X., Sun, D., & Liaw, H. C. (2013). A simple setpoint controller for dynamic manipulation of biological cells using optical tweezers. IEEE Conference on Decision and Control - Proceedings, 3379-3384. https://hdl.handle.net/10356/102909 http://hdl.handle.net/10220/19079 10.1109/CDC.2013.6760400 en © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [http://dx.doi.org/10.1109/CDC.2013.6760400]. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering Cheah, Chien Chern Li, Xiang Yan, X. Sun, D. Liaw, H. C. A simple setpoint controller for dynamic manipulation of biological cells using optical tweezers |
| title | A simple setpoint controller for dynamic manipulation of biological cells using optical tweezers |
| title_full | A simple setpoint controller for dynamic manipulation of biological cells using optical tweezers |
| title_fullStr | A simple setpoint controller for dynamic manipulation of biological cells using optical tweezers |
| title_full_unstemmed | A simple setpoint controller for dynamic manipulation of biological cells using optical tweezers |
| title_short | A simple setpoint controller for dynamic manipulation of biological cells using optical tweezers |
| title_sort | simple setpoint controller for dynamic manipulation of biological cells using optical tweezers |
| topic | DRNTU::Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/102909 http://hdl.handle.net/10220/19079 |
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