Li Gongxin, Ding Zhanqiao, Wang Mindong, Zhao Zhonggai, Xie Shuangxi, Liu Fei
Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi 214122, China.
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.
Micromachines (Basel). 2022 Jun 23;13(7):985. doi: 10.3390/mi13070985.
The precise control method plays a crucial role in improving the accuracy and efficiency of the micromanipulation of optically induced dielectrophoresis (ODEP). However, the unmeasurable nature of the ODEP force is a great challenge for the precise automatic manipulation of ODEP. Here, we propose a data-driven kinematic model to build an automatic control system for the precise manipulation of ODEP. The kinematic model is established by collecting the input displacement of the optical pattern and the output displacements of the manipulated object. Then, the control system based on the model was designed, and its feasibility and control precise were validated by numerical simulations and actual experiments on microsphere manipulation. In addition, the applications of ODEP manipulation in two typical scenarios further demonstrated the feasibility of the designed control system. This work proposes a new method to realize the precise manipulation of ODEP technology by establishing a kinematic model and a control system for micromanipulation, and it also provides a general approach for the improvement of the manipulation accuracy of other optoelectronic tweezers.
精确控制方法在提高光诱导介电泳（ODEP）微操纵的精度和效率方面起着至关重要的作用。然而，ODEP力的不可测量特性对ODEP的精确自动操纵来说是一个巨大挑战。在此，我们提出一种数据驱动的运动学模型，以构建用于ODEP精确操纵的自动控制系统。该运动学模型通过收集光学图案的输入位移和被操纵物体的输出位移来建立。然后，设计了基于该模型的控制系统，并通过对微球操纵的数值模拟和实际实验验证了其可行性和控制精度。此外，ODEP操纵在两个典型场景中的应用进一步证明了所设计控制系统的可行性。这项工作通过建立微操纵的运动学模型和控制系统，提出了一种实现ODEP技术精确操纵的新方法，并且还为提高其他光电子镊子的操纵精度提供了一种通用方法。
