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Novel parameter estimation schemes in microsystems

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5 Author(s)
Bilen, H. ; Fac. of Eng. & Natural Sci., Sabanci Univ., Istanbul, Turkey ; Hocaoglu, M.A. ; Baran, E.A. ; Unel, M.
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This paper presents two novel estimation methods that are designed to enhance our ability of observing, positioning, and physically transforming the objects and/or biological structures in micromanipulation tasks. In order to effectively monitor and position the microobjects, an online calibration method with submicron precision via a recursive least square solution is presented. To provide the adequate information to manipulate the biological structures without damaging the cell or tissue during an injection, a nonlinear spring-mass-damper model is introduced and mechanical properties of a zebrafish embryo are obtained. These two methods are validated on a microassembly workstation and the results are evaluated quantitatively.

Published in:

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Date of Conference:

12-17 May 2009

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