Vision-Based Closed-Loop Control With Spatiotemporal Multiplexing Strategy for Noncontact Trapping of Multiple Micro-Particles
文献类型：期刊论文
| 作者 | Wang, Mingyue1; Li, Jiaqi1; Zhong, Chengxi1; Li, Teng2; Sun, Zhenhuan1; Li, You-Fu3; Su, Hu4 ; Liu, Song1,5
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| 刊名 | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
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| 出版日期 | 2024-06-13 |
| 页码 | 13 |
| 关键词 | Acoustics Robots Robot kinematics Echo sounders Microscopy End effectors Needles Noncontact robot manipulation automated particle trapping phased transducer array microscopic vision |
| ISSN号 | 1545-5955 |
| DOI | 10.1109/TASE.2024.3407144 |
| 通讯作者 | Su, Hu(hu.su@ia.ac.cn) ; Liu, Song(liusong@shanghaitech.edu.cn) |
| 英文摘要 | 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. |
| WOS关键词 | ARRAY |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| WOS记录号 | WOS:001249166100001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58742]  |
| 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 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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