Robotic Immobilization of Zebrafish Larva

Songlin Zhuang; Gefei Zhang; Dongxu Lei; Xinghu Yu; Mingsi Tong; Weiyang Lin; Yang Shi; Huijun Gao

doi:10.1007/978-3-031-33410-8_5

Robotic Immobilization of Zebrafish Larva

Songlin Zhuang
, Gefei Zhang
, Dongxu Lei
, Xinghu Yu
, Mingsi Tong
, Weiyang Lin
, Yang Shi
, Huijun Gao^*

^*Corresponding author for this work

Yongjiang Laboratory
Harbin Institute of Technology
Ningbo Institute of Intelligent Equipment Technology Company Ltd
University of Victoria BC

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

In this chapter, we mainly discuss two zebrafish larva immobilization schemes, i.e., immobilizing the larva using a tapered channel and gripping the yolk with a holding pipette. For the first scheme, the dynamic model of larva motion is analyzed and an adaptive robust controller is designed for larva deceleration to avoid damage. For the second one, the dynamic model, the tracking algorithm of the aspirated length, and the control algorithm are presented. The feasibility of the proposed algorithms is verified through experimental results.

Original language	English
Title of host publication	Synthesis Lectures on Biomedical Engineering
Publisher	Springer Nature
Pages	141-165
Number of pages	25
DOIs	https://doi.org/10.1007/978-3-031-33410-8_5
State	Published - 2023

Publication series

Name	Synthesis Lectures on Biomedical Engineering
Volume	Part F679
ISSN (Print)	1930-0328
ISSN (Electronic)	1930-0336

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10.1007/978-3-031-33410-8_5

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title = "Robotic Immobilization of Zebrafish Larva",

abstract = "In this chapter, we mainly discuss two zebrafish larva immobilization schemes, i.e., immobilizing the larva using a tapered channel and gripping the yolk with a holding pipette. For the first scheme, the dynamic model of larva motion is analyzed and an adaptive robust controller is designed for larva deceleration to avoid damage. For the second one, the dynamic model, the tracking algorithm of the aspirated length, and the control algorithm are presented. The feasibility of the proposed algorithms is verified through experimental results.",

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AU - Zhuang, Songlin

AU - Zhang, Gefei

AU - Lei, Dongxu

AU - Yu, Xinghu

AU - Tong, Mingsi

AU - Lin, Weiyang

AU - Shi, Yang

AU - Gao, Huijun

PY - 2023

Y1 - 2023

N2 - In this chapter, we mainly discuss two zebrafish larva immobilization schemes, i.e., immobilizing the larva using a tapered channel and gripping the yolk with a holding pipette. For the first scheme, the dynamic model of larva motion is analyzed and an adaptive robust controller is designed for larva deceleration to avoid damage. For the second one, the dynamic model, the tracking algorithm of the aspirated length, and the control algorithm are presented. The feasibility of the proposed algorithms is verified through experimental results.

AB - In this chapter, we mainly discuss two zebrafish larva immobilization schemes, i.e., immobilizing the larva using a tapered channel and gripping the yolk with a holding pipette. For the first scheme, the dynamic model of larva motion is analyzed and an adaptive robust controller is designed for larva deceleration to avoid damage. For the second one, the dynamic model, the tracking algorithm of the aspirated length, and the control algorithm are presented. The feasibility of the proposed algorithms is verified through experimental results.

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PB - Springer Nature

ER -

Robotic Immobilization of Zebrafish Larva

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