Real-Time Holographic Tracking and Control of Microrobots
IEEE Robotics and Automation Letters, cilt.2, sa.1, ss.143-148, 2017 (Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 2 Sayı: 1
- Basım Tarihi: 2017
- Doi Numarası: 10.1109/lra.2016.2579739
- Dergi Adı: IEEE Robotics and Automation Letters
- Derginin Tarandığı İndeksler: Scopus
- Sayfa Sayıları: ss.143-148
- Anahtar Kelimeler: Micro/Nano robots, visual servoing, localization, automation at micro-nano scales
- İstanbul Medipol Üniversitesi Adresli: Evet
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 $\pm$ 23 and $\pm$ 180 $\mu$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.