Optical manipulation of biological cell without measurement of cell velocity

C. Cheah, X. Li, X. Yan, D. Sun
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Abstract

Optical tweezer is a useful tool for non-contact micromanipulation tasks because it can manipulate biological cells precisely without causing damage to the cells. In many optical manipulation techniques, the measurement of the velocity of the cell is necessary. Since it is difficult to measure the velocity of the cell, the velocity information is usually obtained by differentiating the position of the cell in image space, which may result in degraded performance of the control system due to estimation error and the noises induced in differentiation. In this paper, an adaptive observer technique is proposed for optical manipulation of cell with a low Reynolds' number, without measurement of the velocity of the cell. By using the proposed observer technique, a desired position input of the laser beam without measurement of the velocity of the cell is also developed. The stability of closed-loop system is analyzed by using Lyapunov-like method. Experimental results are presented to illustrate the performance of the proposed control method.
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不测量细胞速度的生物细胞光学操作
光镊是一种非常有用的非接触式微操作工具,因为它可以精确地操纵生物细胞而不会对细胞造成损伤。在许多光学操作技术中,测量细胞的速度是必要的。由于单元格的速度难以测量,通常通过对单元格在图像空间中的位置进行微分来获得速度信息,这可能会由于估计误差和微分过程中产生的噪声而导致控制系统性能下降。本文提出了一种自适应观测器技术,用于低雷诺数细胞的光学操纵,而不需要测量细胞的速度。利用所提出的观测器技术,在不测量细胞速度的情况下,还开发了一个期望的激光束位置输入。用类李雅普诺夫方法分析了闭环系统的稳定性。实验结果验证了所提控制方法的有效性。
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