Title :
Visual servoed micropositioning for protein manipulation tasks
Author :
Mezouar, Youcef ; Allen, Peter K.
Author_Institution :
Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
Abstract :
In this paper, we present a framework for cell manipulation tasks with visual servoing micromanipulation strategies. A vision based micropositioner is designed in order to address the requirement of high precision needed to perform manipulation of objects under 100 μm in size. The system calibration (microscope-camera-micropositioner) and the model of the observed scene are not known. Experimental results for micropositioning tasks with respect to protein cells are presented and demonstrate the validity of the proposed approach.
Keywords :
biomedical equipment; computer vision; materials handling; micromanipulators; optical microscopes; position control; servomechanisms; grasping loop; micromanipulator; micropositioner; micropositioning; optical microscope; optics modeling; protein crystal manipulation; robotics; visual servoing; Bioinformatics; Crystallization; Crystals; Genomics; Microscopy; Optical feedback; Optical sensors; Proteins; Robots; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1044011
