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Paper WeB06.4

Ma, Zhiqiang (UNC Charlotte), Akella, Srinivas (University of North Carolina at Charlotte)

Coordination of Droplets on Light-Actuated Digital Microfluidic Systems

Scheduled for presentation during the Regular Session "Micro and Nano Robots II" (WeB06), Wednesday, May 16, 2012, 11:15−11:30, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Motion and Path Planning, Path Planning for Multiple Mobile Robots or Agents, Collision Avoidance

Abstract

In this paper we explore the problem of coordinating multiple droplets in light-actuated digital microfluidic systems intended for use as lab-on-a-chip systems. In a light actuated digital microfluidic system, droplets of chemicals are actuated on a photosensitive chip by moving projected light patterns. Our goal is to perform automated manipulation of multiple droplets in parallel on a microfluidic platform. To achieve collision-free droplet coordination while optimizing completion times, we apply multiple robot coordination techniques. We present a mixed integer linear programming formulation for coordinating droplets given their paths. This approach permits arbitrary droplet formations, and coordination of both individual droplets and batches of droplets. We then present a linear time stepwise approach for batch coordination of droplet matrix layouts.

 

 

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