Robotic formation control in micro world
Nature provides many examples of biological systems that work cooperatively to accomplish a common goal. Multiple agents or robots that works in formation or with coordination can improve efficiency in many tasks. Some tasks that are difficult to solve by using a single robot can have a feasible sol...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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2016
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| Online Access: | http://hdl.handle.net/10356/67878 |
| _version_ | 1811682200306843648 |
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| author | Li, Mingyu |
| author2 | Cheah Chien Chern |
| author_facet | Cheah Chien Chern Li, Mingyu |
| author_sort | Li, Mingyu |
| collection | NTU |
| description | Nature provides many examples of biological systems that work cooperatively to accomplish a common goal. Multiple agents or robots that works in formation or with coordination can improve efficiency in many tasks. Some tasks that are difficult to solve by using a single robot can have a feasible solution when multiple robots are employed. This project aims to design and implement vision based robotic formation controllers for multiple micro-particles. Image-processing module will be developed for detection, shape recognition and tracking for multiple micro-particles. This report emphasize on the image process and calculation of best grasping positions for the target cell. Optical Tweezer (OT) system will be used to manoeuvre the end effectors (silicon beads) to execute the grasping action. |
| first_indexed | 2024-10-01T03:53:03Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/67878 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:53:03Z |
| publishDate | 2016 |
| record_format | dspace |
| spelling | ntu-10356/678782023-07-07T16:43:25Z Robotic formation control in micro world Li, Mingyu Cheah Chien Chern School of Electrical and Electronic Engineering DRNTU::Engineering Nature provides many examples of biological systems that work cooperatively to accomplish a common goal. Multiple agents or robots that works in formation or with coordination can improve efficiency in many tasks. Some tasks that are difficult to solve by using a single robot can have a feasible solution when multiple robots are employed. This project aims to design and implement vision based robotic formation controllers for multiple micro-particles. Image-processing module will be developed for detection, shape recognition and tracking for multiple micro-particles. This report emphasize on the image process and calculation of best grasping positions for the target cell. Optical Tweezer (OT) system will be used to manoeuvre the end effectors (silicon beads) to execute the grasping action. Bachelor of Engineering 2016-05-23T06:03:46Z 2016-05-23T06:03:46Z 2016 Final Year Project (FYP) http://hdl.handle.net/10356/67878 en Nanyang Technological University 72 p. application/pdf |
| spellingShingle | DRNTU::Engineering Li, Mingyu Robotic formation control in micro world |
| title | Robotic formation control in micro world |
| title_full | Robotic formation control in micro world |
| title_fullStr | Robotic formation control in micro world |
| title_full_unstemmed | Robotic formation control in micro world |
| title_short | Robotic formation control in micro world |
| title_sort | robotic formation control in micro world |
| topic | DRNTU::Engineering |
| url | http://hdl.handle.net/10356/67878 |
| work_keys_str_mv | AT limingyu roboticformationcontrolinmicroworld |