JRM Vol.25 No.1 pp. 115-124
doi: 10.20965/jrm.2013.p0115


High-Speed Focusing and Tracking of Multisized Microbiological Objects

Chanh-Nghiem Nguyen, Kenichi Ohara, Yasushi Mae,
and Tatsuo Arai

Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan

May 23, 2012
June 5, 2012
February 20, 2013
high-speed tracking, multisized, microobject
This paper proposes a novel algorithm for high-speed autofocusing and tracking of multisized microbiological objects observed under a transmitted light microscope. Unlike well-known autofocus algorithms found in the literature, the intensity variation of only a small defined region around the border of the microobject is analyzed in the frequency domain to determine the focused position of the object quickly. In the experiment, 20 µm3T3-SWISS cells were used as smallermicroobjects and 97 µm diameter microspheres were used to represent larger microbiological objects. The execution time and accuracy of the proposed algorithmwere assessed and better results were obtained compared to some related autofocusing algorithms. Since its computational cost was low, the algorithm facilitated highspeed autofocusing of both 3T3-SWISS cells and microspheres. The algorithm was also applied to the tracking of moving microobjects by implementing a PD controller. Since visual feedback took only about 1 ms, high-speed tracking was achieved.
Cite this article as:
C. Nguyen, K. Ohara, Y. Mae, and T. Arai, “High-Speed Focusing and Tracking of Multisized Microbiological Objects,” J. Robot. Mechatron., Vol.25 No.1, pp. 115-124, 2013.
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