Novel parameter estimation schemes in microsystems

— This paper presents two novel estimation methods that are designed to enhance our ability of observing, positioning, and physically transforming the objects and/or biological structures in micromanipulation tasks. In order to effectively monitor and position the microobjects, an online calibration method with submicron precision via a recursive least square solution is presented. To provide the adequate information to manipulate the biological structures without damaging the cell or tissue during an injection, a nonlinear spring-mass-damper model is introduced and mechanical properties of a zebrafish embryo are obtained. These two methods are validated on a microassembly workstation and the results are evaluated quantitatively.

• Type: Conference
• Year: 2009
• Where: ICRA
• Authors: Hakan Bilen, Muhammet A. Hocaoglu, Eray A. Baran, Mustafa Unel, Devrim Gozuacik
• Keywords: Biological Structures, ICRA 2009, Nonlinear Spring-mass-damper Model, Online Calibration Method, Robotics