Flocking multiple microparticles with automatically controlled optical tweezers: solutions and experiments.

This paper presents an efficient approach to achieve microparticles flocking with robotics and optical tweezers technologies. All particles trapped by optical tweezers can be automatically moved toward a predefined region without collision. The main contribution of this paper lies in the proposal of several solutions to the flocking manipulation of microparticles in microenvironments. First, a simple flocking controller is proposed to generate the desired positions and velocities for particles' movement. Second, a velocity saturation method is implemented to prevent the desired velocities from exceeding a safe limit. Third, a two-layer control architecture is proposed for the motion control of optical tweezers. This architecture can help make many robotic manipulations achievable under microenvironments. The proposed approach with these solutions can be applied to many bioapplications especially in cell engineering and biomedicine. Experiments on yeast cells with a robot-tweezers system are finally performed to verify the effectiveness of the proposed approach.