Real-Time Path Planning for Automating Optical Tweezers based Particle Transport Operations

Optical tweezers (OT) have been developed to successfully trap, orient, and transport micro and nano scale components of many different sizes and shapes in a fluid medium. They can be viewed as robots made out of light. Components can be simply released from optical traps by switching off laser beams. By utilizing the principle of time sharing or holograms, multiple optical traps can perform several operations in parallel. These characteristics make optical tweezers a very promising technology for creating directed micro and nano scale assemblies. In the infra-red regime, they are useful in a large number of biological applications as well. This dissertation explores the problem of real-time path planning for autonomous OT based transport operations. Such operations pose interesting challenges as the environment is uncertain and dynamic due to the random Brownian motion of the particles and noise in the imaging based measurements. Silica microspheres having diameters between (1-20) µm are selected as model components. Offline simulations are performed to gather trapping probability data that serves as a measure of trap strength and reliability as a function of relative position of the particle under consideration with respect to the trap focus, and trap velocity. Simplified models are generated using Gaussian Radial Basis Functions to represent the data in a compact form. These metamodels can be queried at run-time to obtain estimated probability values accurately and efficiently. Simple trapping probability models are then utilized in a stochastic dynamic programming framework to compute optimum trap locations and velocities that minimizes the total, expected transport time by incorporating collision avoidance and recovery steps. A discrete version of an approximate partially observable Markov decision process algorithm, called the QMDP_NLTDV algorithm, is developed. Real-time performance is ensured by pruning the search space and enhancing convergence rates by introducing a non-linear value function. The algorithm is validated both using a simulator as well as a physical holographic tweezer set-up. Successful runs show that the automated planner is flexible, works well in reasonably crowded scenes, and is capable of transporting a specific particle to a given goal location by avoiding collisions either by circumventing or by trapping other freely diffusing particles. This technique for transporting individual particles is utilized within a decoupled and prioritized approach to move multiple particles simultaneously. An iterative version of a bipartite graph matching algorithm is also used to assign goal locations to target objects optimally. As in the case of single particle transport, simulation and some physical experiments are performed to validate the multi-particle planning approach

Localization and the interface between quantum mechanics, quantum field theory and quantum gravity I (The two antagonistic localizations and their asymptotic compatibility)

It is shown that there are significant conceptual differences between QM and QFT which make it difficult to view the latter as just a relativistic extension of the principles of QM. At the root of this is a fundamental distiction between Born-localization in QM (which in the relativistic context changes its name to Newton-Wigner localization) and modular localization which is the localization underlying QFT, after one separates it from its standard presentation in terms of field coordinates. The first comes with a probability notion and projection operators, whereas the latter describes causal propagation in QFT and leads to thermal aspects of locally reduced finite energy states. The Born-Newton-Wigner localization in QFT is only applicable asymptotically and the covariant correlation between asymptotic in and out localization projectors is the basis of the existence of an invariant scattering matrix. In this first part of a two part essay the modular localization (the intrinsic content of field localization) and its philosophical consequences take the center stage. Important physical consequences of vacuum polarization will be the main topic of part II. Both parts together form a rather comprehensive presentation of known consequences of the two antagonistic localization concepts, including the those of its misunderstandings in string theory.Comment: 63 pages corrections, reformulations, references adde

Integrating Vision and Physical Interaction for Discovery, Segmentation and Grasping of Unknown Objects

In dieser Arbeit werden Verfahren der Bildverarbeitung und die Fähigkeit humanoider Roboter, mit ihrer Umgebung physisch zu interagieren, in engem Zusammenspiel eingesetzt, um unbekannte Objekte zu identifizieren, sie vom Hintergrund und anderen Objekten zu trennen, und letztendlich zu greifen. Im Verlauf dieser interaktiven Exploration werden außerdem Eigenschaften des Objektes wie etwa sein Aussehen und seine Form ermittelt