Vision-Based Closed-Loop Control With Spatiotemporal Multiplexing Strategy for Noncontact Trapping of Multiple Micro-Particles

doi:10.1109/TASE.2024.3407144

	Vision-Based Closed-Loop Control With Spatiotemporal Multiplexing Strategy for Noncontact Trapping of Multiple Micro-Particles
	Wang, Mingyue 1; Li, Jiaqi 1; Zhong, Chengxi 1; Li, Teng 2; Sun, Zhenhuan 1; Li, You-Fu 3; Su, Hu4 ; Liu, Song1,5
发表期刊	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
ISSN	1545-5955
	2024-06-13
页码	13
通讯作者	Su, Hu(hu.su@ia.ac.cn) ; Liu, Song(liusong@shanghaitech.edu.cn)
摘要	Noncontact trapping of micro objects has great application potential in fields like material science and biomedical engineering due to its label-freeness and biocompatibility. In this paper, an automated acoustic micro-particle trapping system implemented with phased transducer array (PTA) is prototyped. The system is incorporated with a stereo vision to provide visual feedback benefited from localization of the invisible acoustic field through hydrophone scanning. Binocular vision calibration and stereo matching are realized using image Jacobian matrix. An efficient phase modulation algorithm is proposed for the calculation of desired PTA phase profile in real-time and a spatiotemporal multiplexing control strategy is adopted to dynamically generate multiple trappings. Experimental results well demonstrated that the stable trapping of multiple particles can be robustly realized by the system, leading to the improvements of robotic noncontact manipulation with invisible acoustic end-effector.
关键词	Acoustics Robots Robot kinematics Echo sounders Microscopy End effectors Needles Noncontact robot manipulation automated particle trapping phased transducer array microscopic vision
DOI	10.1109/TASE.2024.3407144
关键词[WOS]	ARRAY
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China
项目资助者	National Natural Science Foundation of China
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:001249166100001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/58743
专题	多模态人工智能系统全国重点实验室
通讯作者	Su, Hu; Liu, Song
作者单位	1.ShanghaiTech Univ, Sch Informat Sci & Technol, Shanghai 201210, Peoples R China 2.Wuhan Polytech Univ, Sch Elect & Elect Engn, Wuhan, Peoples R China 3.City Univ Hong Kong, Dept Mech Engn, Hong Kong, Peoples R China 4.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 5.Shanghai Engn Res Ctr Intelligent Vis & Imaging, Shanghai 201210, Peoples R China
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wang, Mingyue,Li, Jiaqi,Zhong, Chengxi,et al. Vision-Based Closed-Loop Control With Spatiotemporal Multiplexing Strategy for Noncontact Trapping of Multiple Micro-Particles[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2024:13.
APA	Wang, Mingyue.,Li, Jiaqi.,Zhong, Chengxi.,Li, Teng.,Sun, Zhenhuan.,...&Liu, Song.(2024).Vision-Based Closed-Loop Control With Spatiotemporal Multiplexing Strategy for Noncontact Trapping of Multiple Micro-Particles.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,13.
MLA	Wang, Mingyue,et al."Vision-Based Closed-Loop Control With Spatiotemporal Multiplexing Strategy for Noncontact Trapping of Multiple Micro-Particles".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2024):13.