ICRA'09 Paper Abstract


Paper FrC2.1

Bilen, Hakan (Sabanci University), Hocaoglu, Muhammet A. (Sabanci University), Baran, Eray A. (Sabanci University), Unel, Mustafa (Sabanci University), Gozuacik, Devrim (Sabanci University)

Novel Parameter Estimation Schemes in Microsystems

Scheduled for presentation during the Regular Sessions "Computer Vision for Robotics and Automation - IV" (FrC2), Friday, May 15, 2009, 13:30−13:50, Room: ICR

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Computer Vision for Robotics and Automation, Calibration and Identification, Micro/Nano Robots


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.



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