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

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作者信息关键词期刊信息基础信息归属信息摘要

成果类型：

期刊论文

作者：

Wang, Mingyue;Li, Jiaqi;Zhong, Chengxi;Li, Teng;Sun, Zhenhuan;...

通讯作者：

Liu, S;Su, H

作者机构：

[Wang, Mingyue; Liu, S; Li, Jiaqi; Liu, Song; Sun, Zhenhuan; Zhong, Chengxi] ShanghaiTech Univ, Sch Informat Sci & Technol, Shanghai 201210, Peoples R China.

[Li, Teng] Wuhan Polytech Univ, Sch Elect & Elect Engn, Wuhan, Peoples R China.

[Li, You-Fu] City Univ Hong Kong, Dept Mech Engn, Hong Kong, Peoples R China.

[Su, Hu; Sun, Zhenhuan] Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China.

[Liu, Song] Shanghai Engn Res Ctr Intelligent Vis & Imaging, Shanghai 201210, Peoples R China.

通讯机构：

[Liu, S ] S

[Su, H ] C

ShanghaiTech Univ, Sch Informat Sci & Technol, Shanghai 201210, Peoples R China.

Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China.

语种：

英文

关键词：

Acoustics;Robots;Robot kinematics;Echo sounders;Microscopy;End effectors;Needles;Noncontact robot manipulation;automated particle trapping;phased transducer array;microscopic vision

期刊：

IEEE Transactions on Automation Science and Engineering

ISSN：

1545-5955

年：

2025

卷：

页码：

4063-4075

DOI：

10.1109/TASE.2024.3407144

基金类别：

10.13039/501100001809-National Natural Science Foundation of China (Grant Number: 62303321) Research Grants Council of Hong Kong (Grant Number: Project CityU11213420 and Project CityU11206122)

机构署名：

本校为其他机构

院系归属：

电气与电子工程学院

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 Jacobi...

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

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