Cart (Loading....) | Create Account
Close category search window
 

Three-Dimensional Visual Servo Control of a Magnetically Propelled Microscopic Bead

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Zhipeng Zhang ; Ohio State Univ., Columbus, OH, USA ; Fei Long ; Chia-Hsiang Menq

This paper presents the development of a visual servo control system that is capable of trapping and steering a microscopic magnetic bead in a 3-D workspace using a hexapole magnetic actuator. The magnetic actuator employs six sharp-tipped magnetic poles, arranged in a hexagonal configuration, and six actuating coils to achieve 3-D magnetic actuation. Real-time 3-D visual tracking is realized through processing video images acquired by a complementary metal-oxide semiconductor (CMOS) camera to achieve nanometer-scale resolution for particle tracking. A model-based nonlinear control law is developed to achieve two objectives: 1) to stabilize the magnetically propelled microscopic bead and control its Brownian motion and 2) to rapidly steer the microscopic bead within the 3-D workspace. Specifically, 3-D visual servo control of a 2.8-μm magnetic bead is employed to validate the capability of the developed control system. The control performances in terms of variance minimization, 100 nm stepping, and large range steering are experimentally demonstrated.

Published in:

Robotics, IEEE Transactions on  (Volume:29 ,  Issue: 2 )

Date of Publication:

April 2013

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.