IEEE Robotics and Automation Letters, 2 (1), 2016
Real-time holographic tracking and control of microrobots
Ayoung Hong, Burak Zeydan, Samuel Charreyron, Olgac Ergeneman, Salvador Pane, M. Fatih Toy, Andrew J. Petruska, Bradley J. Nelson
Atıf
@article{hong2016real,
title={Real-time holographic tracking and control of microrobots},
author={Hong, Ayoung and Zeydan, Burak and Charreyron, Samuel and Ergeneman, Olga{\c{c}} and Pane, Salvador and Toy, M Fatih and Petruska, Andrew J and Nelson, Bradley J},
journal={IEEE Robotics and Automation Letters},
volume={2},
number={1},
pages={143--148},
year={2016},
publisher={IEEE}
}Özet
Digital holography is used to track the three-dimensional position of a magnetic microrobot maneuvered in real time by means of an electromagnetic manipulation system. The method presented is able to process holograms at 40 Hz with a position accuracy in the imaging plane and in depth of ± 23 and ± 180 μ m, respectively. As this method does not require magnification, microrobots can be tracked in significantly larger working volumes than conventional optical methods. The performance of this tracking method is demonstrated by visually servoing a magnetic bead around a cubic trajectory.
