Novel parameter estimation schemes in microsystems
Bilen, Hakan and Hocaoğlu, Muhammet Ali and Baran, Eray Abdurrahman and Ünel, Mustafa and Gözüaçık, Devrim (2009) Novel parameter estimation schemes in microsystems. In: IEEE International Conference on Robotics and Automation, Kobe, Japan
Official URL: http://dx.doi.org/10.1109/ROBOT.2009.5152218
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.
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