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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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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cited_by cdi_FETCH-LOGICAL-c333t-78ee50e8c0a55b1b96dc20ecc0df4ed1be4301f00e12cbc56f5500c30eebdd243
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container_end_page 148
container_issue 1
container_start_page 143
container_title IEEE robotics and automation letters
container_volume 2
creator Hong, Ayoung
Zeydan, Burak
Charreyron, Samuel
Ergeneman, Olgac
Pane, Salvador
Toy, M. Fatih
Petruska, Andrew J.
Nelson, Bradley J.
description 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.
doi_str_mv 10.1109/LRA.2016.2579739
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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
title Real-Time Holographic Tracking and Control of Microrobots
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