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dc.contributor.authorYan, Xiao
dc.contributor.authorCheah, Chien Chern
dc.contributor.authorPham, Quang-Cuong
dc.contributor.authorSlotine, Jean-Jacques E
dc.date.accessioned2017-05-25T13:09:39Z
dc.date.available2017-05-25T13:09:39Z
dc.date.issued2015-05
dc.identifier.isbn978-1-4799-6923-4
dc.identifier.urihttp://hdl.handle.net/1721.1/109335
dc.description.abstractVarious control approaches have been developed for micro/nanomanipulations using optical tweezers. Most existing methods assume that the micro/nanoparticles stay trapped during manipulations, and stochastic perturbations (Brownian motion) are usually ignored for the simplification of model dynamics. However, the trapped particles could escape from the optical traps especially in motion due to several possible reasons: small trapping stiffness, stochastic perturbations, and kinetic energy gained during manipulation. This paper investigates the conditions under which micro/nanoparticles will stay trapped while in motion. The dynamics of the trapped particles subject to stochastic perturbations is analyzed. Dynamic trapping is considered and the maximum manipulation velocity is determined from a probabilistic perspective. A controller with certain velocity bound is proposed, the stability of the system is analysed in presence of stochastic perturbation. Experimental results are presented to show the effectiveness of the proposed control approach.en_US
dc.description.sponsorshipSingapore. Agency for Science, Technology and Research (Grant 1121202014)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ICRA.2015.7139269en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceProf. Slotine via Angie Locknaren_US
dc.titleRobotic manipulation of micro/nanoparticles using optical tweezers with velocity constraints and stochastic perturbationsen_US
dc.typeArticleen_US
dc.identifier.citationYan, Xiao, Chien Chern Cheah, Quang-Cuong Pham, and Jean-Jacques E. Slotine. “Robotic Manipulation of Micro/nanoparticles Using Optical Tweezers with Velocity Constraints and Stochastic Perturbations.” 2015 IEEE International Conference on Robotics and Automation (ICRA) (May 2015).en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Brain and Cognitive Sciencesen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.approverSlotine, Jean-Jacques E.en_US
dc.contributor.mitauthorPham, Quang-Cuong
dc.contributor.mitauthorSlotine, Jean-Jacques E
dc.relation.journal2015 IEEE International Conference on Robotics and Automation (ICRA)en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsYan, Xiao; Cheah, Chien Chern; Pham, Quang-Cuong; Slotine, Jean-Jacques E.en_US
dspace.embargo.termsNen_US
dc.identifier.orcidhttps://orcid.org/0000-0002-7161-7812
mit.licenseOPEN_ACCESS_POLICYen_US


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