CPC G05B 19/41885 (2013.01) [B01L 3/50273 (2013.01); G05B 17/02 (2013.01); G06T 7/155 (2017.01); G06T 7/194 (2017.01); G06T 7/74 (2017.01); H04N 7/183 (2013.01); G05B 2219/32359 (2013.01); G06T 2207/20021 (2013.01); G06T 2207/30164 (2013.01)] | 12 Claims |
1. A system for multi-electrode-based real-time micro-object position control with an aid of a digital computer, comprising:
a sensor configured to determine a position of at least one micro-object at a plurality of time points;
at least one processor configured to execute computer-executable code and further configured to:
obtain one or more parameters of a system for positioning the at least one micro-object, the system comprising four electrodes, the electrodes configured to induce movements of the at least one micro-object when the at least one micro-object is suspended in a fluid proximate to the electrodes upon a generation of one or more forces by one or more of the electrodes, wherein the parameters comprise spacing between the electrodes;
model a parameter of an interaction between each of the electrodes and the at least one micro-object;
obtain a desired position of at least one micro-object;
implement via a plurality of voltage patterns a control scheme for moving the at least one micro-object until the position of the at least one micro-object matches the desired position, implementing each of the voltage patterns comprising:
determine a voltage to be generated by one of the electrodes based on the parameter model, the position at a most recent one of the time points, and the desired positon;
determine a voltage to be generated by each of the remaining three electrodes using the voltage for the one electrode and the spacing between the electrodes in accordance with the equation:
v2(x)=−v1(x+δ),v3(x)=v1(x+2δ),v4(x)=−v1(x−δ),
wherein v1(x) is the voltage to be generated by the one electrode, v2 (x), v3 (x), and v4 (x) are voltages to be generated by the remaining electrodes, and δ represents the spacing between the electrodes; and
command the electrodes to generate the determined voltages, wherein the position of the electrodes is determined after each of the voltage generations.
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