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Vision-based feedback strategy for controlled pushing of microparticles

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Abstract

A strategy for controlled pushing is presented for microassembly of 4.5μm polystyrene particles on a flat glass substrate using an atomic force microscope probe tip. Real-time vision based feedback from a CCD camera mounted to a high resolution optical microscope is used to track particle positions relative to the tip and target position. Tip–particle system is modeled in 2D as a non-holonomic differential drive robot. Effectiveness of the controller is demonstrated through experiments performed using a single goal position as well as linking a series of target positions to form a single complex trajectory. Cell decomposition and wavefront expansion algorithms are implemented to autonomously locate a navigable path to a specified target position. Control strategy alleviates problem of slipping and spinning during pushing.

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Acknowledgments

This work was supported in part by a grant from the Commonwealth of Pennsylvania, Department of Community and Economic Development, through the Pennsylvania Infrastructure Technology Alliance (PITA), and partially by the NSF CAREER award program (Sitti, IIS-0448042).

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Authors and Affiliations

  1. Department of Electrical Engineering, Lehigh University, Bethlehem, PA, 18015, USA

    Nicholas A. Lynch

  2. Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, 18015, USA

    Eugenio Schuster

  3. Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Cagdas D. Onal & Metin Sitti

Authors
  1. Nicholas A. Lynch
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  2. Cagdas D. Onal
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  3. Eugenio Schuster
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  4. Metin Sitti
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Correspondence to Nicholas A. Lynch.

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Lynch, N.A., Onal, C.D., Schuster, E. et al. Vision-based feedback strategy for controlled pushing of microparticles. J. Micro-Nano Mech. 4, 73–83 (2008). https://doi.org/10.1007/s12213-008-0008-8

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  • DOI: https://doi.org/10.1007/s12213-008-0008-8

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