Robotic formation control In micro world
Siaw, Jie Ying
Date of Issue2017-05-23
School of Electrical and Electronic Engineering
Optical Tweezers can be used not only for the positioning of cells but also for moving them over centimeter distances by using laser beams of defined alignment. Micro-manipulation means controlling microscopic test objects using micro-sized equipment such as optical tweezers. The aim of this paper is to discuss the key concepts in deriving the different controllers and to design a semi-automated controller that enables both machine and human to take charge, as well as avoid obstacles when needed, through human-machine interaction by using optical tweezer system. The results obtained show that human-machine interaction is a combination of both automatic and human-guided approach which can be ground-breaking to micro world. While there are limitations which is related to computation time and accuracy, the integration of different controllers is an interesting and helpful approach in helping us to explore and understand the meaning of co-manipulation.
Final Year Project (FYP)
Nanyang Technological University