Technical session talks from ICRA 2012
TechTalks from event: Technical session talks from ICRA 2012
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Micro/Nanoscale Automation III
Automated Parallel Cell Isolation and Deposition Using Microwell Array and Optical TweezersIsolation and deposition of specific live cells with the high spatio-temporal resolution from the heterogeneous mixtures are of critical importance to a wide range of biomedical applications. In this paper, we report a robot-assisted cell manipulation tool with optical tweezers based on a uniquely designed microwell array. The whole automatic manipulation includes the target cell recognition, isolation, transportation and deposition. The microwell array is designed based on microfluidics technology, which allows the passive hydrodynamic docking of cells. Image processing technique is used to recognize the target cells based on the cell size or fluorescence label. After recognition, the target cells can be levitated from the microwell, and then assembled by multiple optical traps in parallel. The optically trapped target cells are then transported and deposited to the desired location precisely. Experiments are performed to demonstrate the effectiveness of the proposed cell manipulation approach.
Modeling and Compensation of Multivariable Creep in Multi-DOF Piezoelectric ActuatorsThe scope of this paper is the modeling, identification and compensation of multivariable creep in piezoelectric actuators. Based on the inverse multiplicative scheme, we propose an approach to model and reduce the creep when the actuators have multiple degrees of freedom. The approach is simple to compute and easy to implement. The experimental results demonstrate the efficiency of the proposed approach on piezoelectric actuators.
High Speed Cell Patterning by Dielectrophoresis and On-Chip Fabrication of Microstructure Embedding Patterned CellsConstructing different patterns of cells and immobilizing these cells inside certain structures are very important issues for artificial tissue engineering. In this paper, we present methods of forming line pattern of yeast cells by dielectrophoresis (DEP) and immobilizing patterned cells by photo-crosslinkable resin. High speed cell pattering by DEP and on-chip fabrication of microstructure which contains patterned yeast cells is demonstrated. In order to applying DEP force for forming cell pattern, several novel microelectrodes are fabricated by Indium Tin Oxides (ITO) which are coated on the glass. The two kinds of DEP responses of yeast cell (W303) and the precise experimental parameters of them are confirmed. Based on negative DEP phenomenon, cell traps generated by microelectrode are demonstrated. Position control and transportation of yeast cells is performed by using cell traps. Besides, a cell trap matrix is fabricated and high speed cell pattering is performed. The experimental results show that the cell line patterns which contain hundreds of yeast cells can be formed by DEP within 1 second. The on-chip fabrication for arbitrary shapes of microstructures based on Poly Ethylene Glycol Diacrylate (PEG-DA) is reported. With the cell patterning by DEP and immobilizing by on-chip fabrication, microstructure which contains 3 lines of yeast cells is fabricated in the microfluidic channel, inside PEG-DA and NaCl solution.
Automatic Flocking Manipulation of Micro Particles with Robot-Tweezers TechnologiesFlocking of micro-scaled particles, attracts increasing attention especially in cell engineering and drug industry, due to its potential application for particle manipulation with high throughput and productivity. This paper presents an efficient approach to flocking micro particles with robotics and optical tweezers technologies. All particles trapped by optical tweezers can be gradually moved towards a pre-defined region. The main contribution of this paper lies in a solution to achieve the flocking manipulation of particles in micro environments. A local potential function is proposed to avoid collision amongst particles and obstacles. Based on the relationship amongst laser power, particle movement velocity, and trapping force, saturation of velocities is employed to bound particle velocities. In this way, the flocking manipulation can be operated with efficiency and safety. Experiments on yeast cells with a robot-tweezers system are finally performed to verify the effectiveness of the proposed approach.
Development of the Auto Manipulation System towards the Single Cell Automatic Analysis Inside an Environmental SEMIn this paper, an automatic system for single cell analysis inside an environmental scanning electron microscopy (ESEM) was proposed. Single yeast cell was put on an tungsten probe substrate inside ESEM. The endeffector for single cell analysis was fixed to an nanorobotic manipulator, which has three degrees of freedom, i.e. X, Y and Z translation. The real time images during the experiment can be observed by ESEM system in realtime. Therefore, the position of the endeffector and the single cell can be recognized by imaging processing. These position information were used as the feedback signal to control the movement of the nanorobotic manipulator. Finally, a single cell cutting experiment was performed to demonstrate the working mechanism of this system. Two types of cell pattern substrates were also designed and fabricated as the cell analysis chips for the automation single cell analysis in the future.
μ -Cell Fatigue TestA new concept of micro-cell fatigue test is proposed. By reciprocating a cell across the throat of a micro channel repeatedly, the dynamic deformation behavior of the cell is measured. We define a new index of fatigue characteristics of cells as the number of reciprocatory motion leading to a prescribed recovery ratio. The test system is composed of a piezoelectric (PZT) actuator, a high speed vision sensor and a micro channel with a throat. Preliminary experiments were conducted by using Red Blood Cells (RBCs). The result suggested that the activation level of a cell can be evaluated based on its fatigue characteristics.