Real-Time Path Planning for Coordinated Transport of Multiple Particles Using Optical Tweezers
Automated transport of multiple particles using optical tweezers requires real-time path planning to move them in coordination by avoiding collisions among themselves and with randomly moving obstacles. This paper develops a decoupled and prioritized path planning approach by sequentially applying a...
Gespeichert in:
| Veröffentlicht in: | IEEE transactions on automation science and engineering 2012-10, Vol.9 (4), p.669-678 |
|---|---|
| Hauptverfasser: | , , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 678 |
|---|---|
| container_issue | 4 |
| container_start_page | 669 |
| container_title | IEEE transactions on automation science and engineering |
| container_volume | 9 |
| creator | Banerjee, A. G. Chowdhury, S. Losert, W. Gupta, S. K. |
| description | Automated transport of multiple particles using optical tweezers requires real-time path planning to move them in coordination by avoiding collisions among themselves and with randomly moving obstacles. This paper develops a decoupled and prioritized path planning approach by sequentially applying a partially observable Markov decision process algorithm on every particle that needs to be transported. We use an iterative version of a maximum bipartite graph matching algorithm to assign given goal locations to such particles. We then employ a three-step method consisting of clustering, classification, and branch and bound optimization to determine the final collision-free paths. We demonstrate the effectiveness of the developed approach via experiments using silica beads in a holographic tweezers setup. We also discuss the applicability of our approach and challenges in manipulating biological cells indirectly by using the transported particles as grippers. |
| doi_str_mv | 10.1109/TASE.2012.2200102 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_RIE</sourceid><recordid>TN_cdi_proquest_journals_1095533322</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>6230619</ieee_id><sourcerecordid>1671334476</sourcerecordid><originalsourceid>FETCH-LOGICAL-c422t-4288b6ab5c65e0bf4f65880bf4b5461e1ace3690dfc38d337cbd17dc29fcb2b73</originalsourceid><addsrcrecordid>eNpdkE1LxDAQhosoqKs_QLwERPDSNd9tj7KsH7CiaL1a0nSiWbpNTbqI_npTdtmDp0yY5x1mniQ5I3hKCC6uy5vX-ZRiQqeUYkww3UuOiBB5yrKc7Y81F6kohDhMjkNYYkx5XuCj5P0FVJuWdgXoWQ2f6LlVXWe7D2ScRzPnfGM7NUCDSq-60Ds_IGfQ47odbN-OGT9Y3UJAb2FMPfXxq1pUfgP8gg8nyYFRbYDT7TtJ3m7n5ew-XTzdPcxuFqnmlA4pp3leS1ULLQXg2nAjRZ6PRS24JECUBiYL3BjN8oaxTNcNyRpNC6NrWmdsklxt5vbefa0hDNXKBg1tvAbcOlREZoQxzjMZ0Yt_6NKtfRe3q6JIIRhjlEaKbCjtXQgeTNV7u1L-J0LVaLwajVej8WprPGYut5NViBJMNKZt2AWp5IJIziJ3vuEsAOzakjIsScH-ABtXiWw</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>1095533322</pqid></control><display><type>article</type><title>Real-Time Path Planning for Coordinated Transport of Multiple Particles Using Optical Tweezers</title><source>IEEE Xplore</source><creator>Banerjee, A. G. ; Chowdhury, S. ; Losert, W. ; Gupta, S. K.</creator><creatorcontrib>Banerjee, A. G. ; Chowdhury, S. ; Losert, W. ; Gupta, S. K.</creatorcontrib><description>Automated transport of multiple particles using optical tweezers requires real-time path planning to move them in coordination by avoiding collisions among themselves and with randomly moving obstacles. This paper develops a decoupled and prioritized path planning approach by sequentially applying a partially observable Markov decision process algorithm on every particle that needs to be transported. We use an iterative version of a maximum bipartite graph matching algorithm to assign given goal locations to such particles. We then employ a three-step method consisting of clustering, classification, and branch and bound optimization to determine the final collision-free paths. We demonstrate the effectiveness of the developed approach via experiments using silica beads in a holographic tweezers setup. We also discuss the applicability of our approach and challenges in manipulating biological cells indirectly by using the transported particles as grippers.</description><identifier>ISSN: 1545-5955</identifier><identifier>EISSN: 1558-3783</identifier><identifier>DOI: 10.1109/TASE.2012.2200102</identifier><identifier>CODEN: ITASC7</identifier><language>eng</language><publisher>Piscataway, NJ: IEEE</publisher><subject>Algorithms ; Beads ; Biological and medical sciences ; Biotechnology ; Branch & bound algorithms ; cell ; Classification ; Collision avoidance ; Collisions ; Coordination ; Exact sciences and technology ; Fundamental and applied biological sciences. Psychology ; Fundamental areas of phenomenology (including applications) ; Graph algorithms ; Grippers ; Immobilization of organelles and whole cells ; Immobilization techniques ; Markov analysis ; Markov processes ; Mechanical effects of light on atoms, molecules, electrons, and ions ; Methods. Procedures. Technologies ; microsphere ; optical tweezers (OT) ; Optics ; Optimization ; Optimization algorithms ; partially observable Markov decision process ; Path planning ; Physics ; Quantum optics ; Real time ; Real-time systems ; Transport</subject><ispartof>IEEE transactions on automation science and engineering, 2012-10, Vol.9 (4), p.669-678</ispartof><rights>2015 INIST-CNRS</rights><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Oct 2012</rights><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c422t-4288b6ab5c65e0bf4f65880bf4b5461e1ace3690dfc38d337cbd17dc29fcb2b73</citedby><cites>FETCH-LOGICAL-c422t-4288b6ab5c65e0bf4f65880bf4b5461e1ace3690dfc38d337cbd17dc29fcb2b73</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6230619$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27901,27902,54733</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6230619$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=26451643$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Banerjee, A. G.</creatorcontrib><creatorcontrib>Chowdhury, S.</creatorcontrib><creatorcontrib>Losert, W.</creatorcontrib><creatorcontrib>Gupta, S. K.</creatorcontrib><title>Real-Time Path Planning for Coordinated Transport of Multiple Particles Using Optical Tweezers</title><title>IEEE transactions on automation science and engineering</title><addtitle>TASE</addtitle><description>Automated transport of multiple particles using optical tweezers requires real-time path planning to move them in coordination by avoiding collisions among themselves and with randomly moving obstacles. This paper develops a decoupled and prioritized path planning approach by sequentially applying a partially observable Markov decision process algorithm on every particle that needs to be transported. We use an iterative version of a maximum bipartite graph matching algorithm to assign given goal locations to such particles. We then employ a three-step method consisting of clustering, classification, and branch and bound optimization to determine the final collision-free paths. We demonstrate the effectiveness of the developed approach via experiments using silica beads in a holographic tweezers setup. We also discuss the applicability of our approach and challenges in manipulating biological cells indirectly by using the transported particles as grippers.</description><subject>Algorithms</subject><subject>Beads</subject><subject>Biological and medical sciences</subject><subject>Biotechnology</subject><subject>Branch & bound algorithms</subject><subject>cell</subject><subject>Classification</subject><subject>Collision avoidance</subject><subject>Collisions</subject><subject>Coordination</subject><subject>Exact sciences and technology</subject><subject>Fundamental and applied biological sciences. Psychology</subject><subject>Fundamental areas of phenomenology (including applications)</subject><subject>Graph algorithms</subject><subject>Grippers</subject><subject>Immobilization of organelles and whole cells</subject><subject>Immobilization techniques</subject><subject>Markov analysis</subject><subject>Markov processes</subject><subject>Mechanical effects of light on atoms, molecules, electrons, and ions</subject><subject>Methods. Procedures. Technologies</subject><subject>microsphere</subject><subject>optical tweezers (OT)</subject><subject>Optics</subject><subject>Optimization</subject><subject>Optimization algorithms</subject><subject>partially observable Markov decision process</subject><subject>Path planning</subject><subject>Physics</subject><subject>Quantum optics</subject><subject>Real time</subject><subject>Real-time systems</subject><subject>Transport</subject><issn>1545-5955</issn><issn>1558-3783</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2012</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkE1LxDAQhosoqKs_QLwERPDSNd9tj7KsH7CiaL1a0nSiWbpNTbqI_npTdtmDp0yY5x1mniQ5I3hKCC6uy5vX-ZRiQqeUYkww3UuOiBB5yrKc7Y81F6kohDhMjkNYYkx5XuCj5P0FVJuWdgXoWQ2f6LlVXWe7D2ScRzPnfGM7NUCDSq-60Ds_IGfQ47odbN-OGT9Y3UJAb2FMPfXxq1pUfgP8gg8nyYFRbYDT7TtJ3m7n5ew-XTzdPcxuFqnmlA4pp3leS1ULLQXg2nAjRZ6PRS24JECUBiYL3BjN8oaxTNcNyRpNC6NrWmdsklxt5vbefa0hDNXKBg1tvAbcOlREZoQxzjMZ0Yt_6NKtfRe3q6JIIRhjlEaKbCjtXQgeTNV7u1L-J0LVaLwajVej8WprPGYut5NViBJMNKZt2AWp5IJIziJ3vuEsAOzakjIsScH-ABtXiWw</recordid><startdate>20121001</startdate><enddate>20121001</enddate><creator>Banerjee, A. G.</creator><creator>Chowdhury, S.</creator><creator>Losert, W.</creator><creator>Gupta, S. K.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>F28</scope></search><sort><creationdate>20121001</creationdate><title>Real-Time Path Planning for Coordinated Transport of Multiple Particles Using Optical Tweezers</title><author>Banerjee, A. G. ; Chowdhury, S. ; Losert, W. ; Gupta, S. K.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c422t-4288b6ab5c65e0bf4f65880bf4b5461e1ace3690dfc38d337cbd17dc29fcb2b73</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Algorithms</topic><topic>Beads</topic><topic>Biological and medical sciences</topic><topic>Biotechnology</topic><topic>Branch & bound algorithms</topic><topic>cell</topic><topic>Classification</topic><topic>Collision avoidance</topic><topic>Collisions</topic><topic>Coordination</topic><topic>Exact sciences and technology</topic><topic>Fundamental and applied biological sciences. Psychology</topic><topic>Fundamental areas of phenomenology (including applications)</topic><topic>Graph algorithms</topic><topic>Grippers</topic><topic>Immobilization of organelles and whole cells</topic><topic>Immobilization techniques</topic><topic>Markov analysis</topic><topic>Markov processes</topic><topic>Mechanical effects of light on atoms, molecules, electrons, and ions</topic><topic>Methods. Procedures. Technologies</topic><topic>microsphere</topic><topic>optical tweezers (OT)</topic><topic>Optics</topic><topic>Optimization</topic><topic>Optimization algorithms</topic><topic>partially observable Markov decision process</topic><topic>Path planning</topic><topic>Physics</topic><topic>Quantum optics</topic><topic>Real time</topic><topic>Real-time systems</topic><topic>Transport</topic><toplevel>online_resources</toplevel><creatorcontrib>Banerjee, A. G.</creatorcontrib><creatorcontrib>Chowdhury, S.</creatorcontrib><creatorcontrib>Losert, W.</creatorcontrib><creatorcontrib>Gupta, S. K.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998–Present</collection><collection>IEEE Xplore</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE transactions on automation science and engineering</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Banerjee, A. G.</au><au>Chowdhury, S.</au><au>Losert, W.</au><au>Gupta, S. K.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Real-Time Path Planning for Coordinated Transport of Multiple Particles Using Optical Tweezers</atitle><jtitle>IEEE transactions on automation science and engineering</jtitle><stitle>TASE</stitle><date>2012-10-01</date><risdate>2012</risdate><volume>9</volume><issue>4</issue><spage>669</spage><epage>678</epage><pages>669-678</pages><issn>1545-5955</issn><eissn>1558-3783</eissn><coden>ITASC7</coden><abstract>Automated transport of multiple particles using optical tweezers requires real-time path planning to move them in coordination by avoiding collisions among themselves and with randomly moving obstacles. This paper develops a decoupled and prioritized path planning approach by sequentially applying a partially observable Markov decision process algorithm on every particle that needs to be transported. We use an iterative version of a maximum bipartite graph matching algorithm to assign given goal locations to such particles. We then employ a three-step method consisting of clustering, classification, and branch and bound optimization to determine the final collision-free paths. We demonstrate the effectiveness of the developed approach via experiments using silica beads in a holographic tweezers setup. We also discuss the applicability of our approach and challenges in manipulating biological cells indirectly by using the transported particles as grippers.</abstract><cop>Piscataway, NJ</cop><pub>IEEE</pub><doi>10.1109/TASE.2012.2200102</doi><tpages>10</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1545-5955 |
| ispartof | IEEE transactions on automation science and engineering, 2012-10, Vol.9 (4), p.669-678 |
| issn | 1545-5955 1558-3783 |
| language | eng |
| recordid | cdi_proquest_journals_1095533322 |
| source | IEEE Xplore |
| subjects | Algorithms Beads Biological and medical sciences Biotechnology Branch & bound algorithms cell Classification Collision avoidance Collisions Coordination Exact sciences and technology Fundamental and applied biological sciences. Psychology Fundamental areas of phenomenology (including applications) Graph algorithms Grippers Immobilization of organelles and whole cells Immobilization techniques Markov analysis Markov processes Mechanical effects of light on atoms, molecules, electrons, and ions Methods. Procedures. Technologies microsphere optical tweezers (OT) Optics Optimization Optimization algorithms partially observable Markov decision process Path planning Physics Quantum optics Real time Real-time systems Transport |
| title | Real-Time Path Planning for Coordinated Transport of Multiple Particles Using Optical Tweezers |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-11T21%3A39%3A36IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_RIE&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Real-Time%20Path%20Planning%20for%20Coordinated%20Transport%20of%20Multiple%20Particles%20Using%20Optical%20Tweezers&rft.jtitle=IEEE%20transactions%20on%20automation%20science%20and%20engineering&rft.au=Banerjee,%20A.%20G.&rft.date=2012-10-01&rft.volume=9&rft.issue=4&rft.spage=669&rft.epage=678&rft.pages=669-678&rft.issn=1545-5955&rft.eissn=1558-3783&rft.coden=ITASC7&rft_id=info:doi/10.1109/TASE.2012.2200102&rft_dat=%3Cproquest_RIE%3E1671334476%3C/proquest_RIE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=1095533322&rft_id=info:pmid/&rft_ieee_id=6230619&rfr_iscdi=true |