Researcher:
Büküşoğlu, İbrahim

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Master Student

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İbrahim

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Büküşoğlu

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Büküşoğlu, İbrahim

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2006 - 20083

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Researcher Of Publications: search.filters.isAuthorOfPublication.502ef77b-16eb-4851-8f22-e5c5fe64a284

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    Haptic guidance for improved task performance in steering microparticles with optical tweezers
    (Optical Soc Amer, 2007) Department of Mechanical Engineering; Department of Physics; N/A; N/A; Department of Physics; Başdoğan, Çağatay; Kiraz, Alper; Büküşoğlu, İbrahim; Varol, Aydın; Doğanay, Sultan; Faculty Member; Faculty Member; Master Student; Master Student; Undergraduate Student; Department of Mechanical Engineering; Department of Physics; College of Engineering; College of Sciences; Graduate School of Sciences and Engineering; Graduate School of Sciences and Engineering; College of Sciences; 125489; 22542; N/A; N/A; N/A
    We report the manipulation of 4-5 mu m diameter polymer microspheres floating in water using optical tweezers (OT) and a haptic device (i.e. force-reflecting robotic arm). Trapped microspheres are steered using the end-effector of a haptic device that is virtually coupled to an XYZ piezo-scanner controlling the movements of the fluid bed. To help with the manipulations, we first calculate a collision-free path for the particle and then display artificial guidance forces to the user through the haptic device to keep him/her on this path during steering. Experiments conducted with 8 subjects show almost two-fold improvements in the average path error and average speed under the guidance of haptic feedback. (c) 2007 Optical Society of America.
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    Haptic manipulation of microspheres using optical tweezers under the guidance of artificial force fields
    (Ieee Computer Soc, 2006) N/A; Department of Physics; Department of Physics; Büküşoğlu, İbrahim; Kiraz, Alper; Kurt, Adnan; Master Student; Faculty Member; Teaching Faculty; Department of Physics; Graduate School of Sciences and Engineering; College of Sciences; College of Sciences; N/A; 22542; 194455
    We report the manipulation of glass microspheres having a diameter of 3-10 mu m using optical tweezers and with haptic feedback. We detect the position of a microsphere manipulated in a fluid bed using a CCD camera and calculate the forces acting on it due to the optical trap and viscous drag. We calculate the optical forces between the laser beam and the manipulated particle using a mass-spring-damper model. For this put-pose, we calibrated the optical trap and used image processing and curve fitting techniques to evaluate the coefficients of the mass-spring-damper model. The drag force is calculated using the velocity of the sphere and the viscous damping coefficient of the fluid. We then use a potential field approach to generate a collision-free path for the manipulated microsphere among other spheres and display the optical trapping and drag forces and the forces due the artificial potential field to a user of the system via a haptic device for better manipulation and steering. We have observed performance improvements over manual control in our preliminary manipulation experiments.
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    PublicationOpen Access
    Haptic manipulation of microspheres using optical tweezers under the guidance of artificial force fields
    (Massachusetts Institute of Technology (MIT) Press, 2008) Department of Mechanical Engineering; Department of Physics; Department of Chemistry; Büküşoğlu, İbrahim; Başdoğan, Çağatay; Kiraz, Alper; Kurt, Adnan; Faculty Member; Faculty Member; Teaching Faculty; Department of Mechanical Engineering; Department of Physics; Department of Chemistry; College of Engineering; N/A; 125489; 22542; 194455
    Using optical tweezers (OT) and a haptic device, microspheres having diameters ranging from 3 to 4 mu m (floating in a fluid solution) are manipulated in order to form patterns of coupled optical microresonators by assembling the spheres via chemical binding. For this purpose, biotin-coated microspheres trapped by a laser beam are steered and chemically attached to an immobilized streptavi d in -coated sphere (i.e., the anchor sphere) one by one using an xyz piezo scanner controlled by a haptic device. The positions of all spheres in the scene are detected using a CCD camera and a collision-free path for each manipulated sphere is generated using the potential field approach. The forces acting on the manipulated particle due to the viscosity of the fluid and the artificial potential field are scaled and displayed to the user through the haptic device for better guidance and control during steering. In addition, a virtual fixture is implemented such that the desired angle of approach and strength are achieved during the binding phase. Our experimental studies in virtual and real environments with eight human subjects show that haptic feedback significantly improves the user performance by reducing the task completion time, the number of undesired collisions during steering, and the positional errors during binding. To our knowledge, this is the first time that a haptic device is coupled with OTs to guide the user during an optical manipulation task involving steering and assembly of microspheres to construct a coupled microresonator.