An Automated Platform for Microrobot Manipulation

0534995 - ÚOCHB 2022 RIV CH eng C - Konferenční příspěvek (zahraniční konf.)
Vrba, J. - Maslen, C. - Řehoř, Ivan - Mareš, J.
An Automated Platform for Microrobot Manipulation.
15th International Conference on Soft Computing Models in Industrial and Environmental Applications (SOCO 2020). Cham: Springer, 2021 - (Herrero, A.), s. 255-265. Advances in Intelligent Systems and Computing, 1268. ISBN 978-3-030-57801-5. ISSN 2194-5357.
[International Conference on Soft Computing Models in Industrial and Environmental Apllications /15./. Burgos (ES), 16.09.2020-18.09.2020]
Grant CEP: GA AV ČR(CZ) Fellowship J. E. Purkyně
Grant ostatní: AV ČR(CZ) Fellowship J. E. Purkyně
Program: Fellowship J. E. Purkyně
Institucionální podpora: RVO:61388963
Klíčová slova: image processing * microrobots * motion control * pattern recognition * robotics
Obor OECD: Chemical process engineering
https://link.springer.com/chapter/10.1007%2F978-3-030-57802-2_25

This paper presents hydrogel microrobots (100) that are directed to specific locations in their environment by an automated platform. The microrobots are actuated by focused laser light and crawl in aqueous environments. The platform consists of a stage, manipulated by stepper drivers and controlled by a Raspberry PI 4. This positions the laser light in the desired locations to move microrobots towards a goal location. The microrobot localisation is done via a microscope camera and repetitive usage of a template matching algorithm. Instead of a path planning algorithm, the optimal position for the laser is chosen before every step so that the disk reaches the goal as fast as possible.
Trvalý link: http://hdl.handle.net/11104/0313475