POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers  

作　　者：Jiaxin Liu Huaping Wang Menghua Liu Ran Zhao Yanfeng Zhao Tao Sun Qing Shi 

机构地区：[1]Intelligent Robotics Institute,School of Mechatronical Engineering Bejing Institute of Technology,Beijing 10081,China [2]Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology),Ministry of Education,Beijing 100081,China [3]School of Medical Technology,Beijing Institute of Technology,Beijing 100081,China [4]Bejing Advanced Innovation Center for Itelligent Robots and Systems,Beijing Institute of Technology,Beijing 100081,China

出　　处：《Cyborg and Bionic Systems》2022年第1期303-313,共11页类生命系统（英文）

基　　金：supported by the National Key R&D Program of China under grant number 2019YFB1309701;the National Natural Science Foundation of China under grant numbers 62073042 and 62088101.

摘　　要：With high throughput and high flexibility,optoelectronic tweerers(OETs)hold huge potential for massively parallel micromanipulation.However,the trajectory of the virtual electrode has been planned in advance in most synchronous manipulations for multiple targets based on an optically induced dielectrophoresis(ODEP)mechanism,which is insuficient to ensure the stability and eficiency in an environment with potential collision risk.In this paper,a synchronously discretized manipulation method based on a centralized and decoupled path planner is proposed for transporting microparticles of diferent types with an OET platform.An approach based on the K uhn-Munkres algorithm is utilized to achieve the goal assignment between target microparticles and goal positions.With the assistance of a visual feedback module,a path planning approach based on the POMDP algorithm dynamically determines the motion strategies of the particle movement to avoid potential collisions.The geometrical parameters of the virtual electrodes are optimized for different types of particles with the goal of maximum transport speed.The experiments of micropatterning with different morphologies and transporting multiple micropartides(e.g,polystyrene microspheres and 3T3 cells)to goal positions are performed.These results demonstrate that the proposed manipulation method based on optoelectronic tweezers is effective for multicell transport and promises to be used in biomedical manipulation tasks with high flexibility and efficiency.

关 键 词：MANIPULATION POSITIONS ASSIGNMENT 

分 类 号：TN643[电子电信—电路与系统]