Real-Time Holographic Tracking and Control of Microrobots

Digital holography is used to track the three-dimensional position of a magnetic microrobot maneuvered in real time by means of an electromagnetic manipulation system. The method presented is able to process holograms at 40 Hz with a position accuracy in the imaging plane and in depth of \pm 23 and...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2017-01, Vol.2 (1), p.143-148
Main Authors: Hong, Ayoung, Zeydan, Burak, Charreyron, Samuel, Ergeneman, Olgac, Pane, Salvador, Toy, M. Fatih, Petruska, Andrew J., Nelson, Bradley J.
Format: Article
Language:English
Subjects:
automation at micro-nano scales
Diffraction
Holographic optical components
Holography
Image reconstruction
localization
Micro/Nano robots
Real-time systems
Three-dimensional displays
visual servoing
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Summary:Digital holography is used to track the three-dimensional position of a magnetic microrobot maneuvered in real time by means of an electromagnetic manipulation system. The method presented is able to process holograms at 40 Hz with a position accuracy in the imaging plane and in depth of \pm 23 and \pm 180 \mum, respectively. As this method does not require magnification, microrobots can be tracked in significantly larger working volumes than conventional optical methods. The performance of this tracking method is demonstrated by visually servoing a magnetic bead around a cubic trajectory.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2016.2579739