DocumentCode :
250186
Title :
Non-contact manipulation for automated protein crystal harvesting using a rolling microrobot
Author :
Hsi-Wen Tung ; Pieters, Roel ; Sargent, David F. ; Nelson, Bradley J.
Author_Institution :
Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland
fYear :
2014
fDate :
May 31 2014-June 7 2014
Firstpage :
2092
Lastpage :
2092
Abstract :
In this work, a magnetic visual control system for automated protein crystal harvesting is proposed. The system consists of a rod-shaped microrobot, a magnetic actuation system and a visual control system. A rotating magnetic field induces the microrobot to roll on the supporting surface, thereby creating a vortex in a liquid environment. This vortex enables the robot to trap and transport even delicate objects in a non-contact manner to a pre-defined position. We present the micro-agent, the actuation system and the visual control system to achieve this automated procedure.
Keywords :
X-ray crystallography; biocontrol; magnetic variables control; microrobots; mobile robots; motion control; proteins; rolling; X-ray crystallography; actuation system; atomic resolution; automated protein crystal harvesting; magnetic actuation system; magnetic visual control system; microagent; motion control; noncontact manipulation; rod-shaped rolling microrobot; rotating magnetic field; spatial macromolecule structure determination; vortex; Automation; Control systems; Crystals; Magnetic resonance imaging; Proteins; Robots; Visualization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
Type :
conf
DOI :
10.1109/ICRA.2014.6907145
Filename :
6907145
Link To Document :
بازگشت