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Student

ZHANG Yanliang
B.Eng. (C.E., NTU), Ph.D. Candidate
Email:
Office:
Tel:
Fax:
L050068@ntu.edu.sg
N3-01a-01
(65) 6790 4377
(65) 6793 5921
Address:
School of Mechanical and Aerospace Engineering
Nanyang Technological University
Robotics Research Centre
Nanyang Technological University
50 Nanyang Avenue
Blk N3, B4a-02A
Singapore 639798
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Research Interests

Projects

Medical/Surgical Robotics

Vision Guided Cell Micromanipulation

A vision-guided robotic approach is proposed to replace human intervention. A 3 degree-of-freedom piezoelectric-driven robotic manipulator is used to hold a micropipette. A high speed camera with a embedded processor captures images of the cells and the micropipette tip under a conventional microscope, processes the images, and controls the robotic manipulator in real-time to perform the intended task. [read more ...]

Publications

Book Chapter:

  1. Y. L. Zhang, W. T. Ang, S. Z. J. Jin, and Z. Man, “Nonlinear adaptive sliding mode control for a rotary inverted pendulum,” in Advances in Industrial Engineering and Operations Research. Springer, December 2008, pp. 345–360.

 

Refereed Journal:

  1. Y. L. Zhang, M. L. H. amd C. Y. Shee amd T. F. CHIA, and W. T. Ang, “Self-calibration method for vision-guided cell micromanipulation systems,” Journal of Microscopy, vol. 233, no. 2, pp. 340–345, 2009.

 

Refereed Journal (under review/revision):

  1. Y. L. Zhang, M. L. Han, J. Vidyalakshmi, C. Y. Shee, and W. T. Ang “Automatic control of mechanical forces acting on cell biomembranes using a vision-guided microrobotic system,” Journal of Microscopy, (review).

 

Refereed Conference:

  1. M. Han, Y. Zhang, C. Y. Shee, and W. T. Ang, “Estimation of the cell deformation,” in Proc. 1st Intl. Conf. Intelligent Robotics and Applications, vol. 5315 LNAI, no. Part 2, Wuhan, China, Oct. 2008, pp. 217–223.
  2. M. Han, Y. Zhang, C. Y. Shee, T. F. Chia, and W. T. Ang, “Plant cell injection based on autofocusing algorithm,” in IEEE Conf. Robotics, Automation and Mechatronics, Chengdu, China, Sep. 2008, pp. 439–443.
  3. Y. Zhang, M. Han, C. Y. Shee, and W. T. Ang, “Calibration of piezoelectric actuator-based vision guided cell microinjection system,” in IEEE/ASME Intl. Conf. Advanced Intelligent Mechatronics, Xi’an, China, Jul. 2008, pp. 808–812.
  4. Y. Zhang, M. Han, C. Y. Shee, T. F. Chia, and W. T. Ang, “Automatic vision guided small cell injection: Feature detection, positioning, penetration and injection,” in Proc. IEEE Intl. Conf. Mechatronics and Automation, Harbin, China, Aug. 2007, pp. 2518–2523.
  5. Y. Zhang, M. Han, C. Y. Shee, T. F. Chia, and W. T. Ang, “Position control using 2D-to-2D feature correspondences in vision guided cell micromanipulation,” in Proc. 29th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Lyon, France, Aug. 2007, pp. 1449–1452.
  6. Y. Zhang, W. T. Ang, J. Jin, and Z. Man, “Non-linear sliding mode control for a rotary inverted pendulum,” in Proc. Intl. MultiConference Engineers and Computer Scientists, vol. 2, Hong Kong, Mar. 2007, pp. 1433–1438.

 

Non-Refereed Conference:

  1. M. L. Han, Y. Zhang, C. Y. Shee, and W. T. Ang, “Injection of microbiological cells using microscopic focus method,” in 3rd Asian Conf. Computer Aided Surgery, Singapore, Dec. 2007.