{"id":"https://openalex.org/W4406610433","doi":"https://doi.org/10.1109/tase.2025.3532214","title":"A Macro-Micro Vision Integrated Micromanipulation System for Self-Initialization and Resilient Control","display_name":"A Macro-Micro Vision Integrated Micromanipulation System for Self-Initialization and Resilient Control","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4406610433","doi":"https://doi.org/10.1109/tase.2025.3532214"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3532214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3532214","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007569714","display_name":"Tiexin Wang","orcid":"https://orcid.org/0009-0009-6651-7225"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Tiexin Wang","raw_affiliation_strings":["Zhejiang University/University of Illinois at Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","Zhejiang University/University of Illinois, Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University/University of Illinois at Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I157725225"]},{"raw_affiliation_string":"Zhejiang University/University of Illinois, Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061038190","display_name":"Yun Long","orcid":"https://orcid.org/0000-0003-0627-489X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yun Long","raw_affiliation_strings":["Zhejiang University/University of Illinois at Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","Zhejiang University/University of Illinois, Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University/University of Illinois at Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I157725225"]},{"raw_affiliation_string":"Zhejiang University/University of Illinois, Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tianle Weng","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Tianle Weng","raw_affiliation_strings":["Zhejiang University/University of Illinois at Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","Zhejiang University/University of Illinois, Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University/University of Illinois at Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I157725225"]},{"raw_affiliation_string":"Zhejiang University/University of Illinois, Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048861559","display_name":"L. Yang","orcid":"https://orcid.org/0000-0002-3294-0879"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Liangjing Yang","raw_affiliation_strings":["Zhejiang University/University of Illinois at Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University/University of Illinois at Urbana-Champaign Institute (ZJU-UIUC Institute), Haining, China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I157725225"]},{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5007569714"],"corresponding_institution_ids":["https://openalex.org/I157725225","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":3.1746,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.90600879,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"11250","last_page":"11263"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.790186882019043},{"id":"https://openalex.org/keywords/macro","display_name":"Macro","score":0.7638278007507324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5045105218887329},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46440860629081726},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.43467196822166443},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.429002046585083},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.415246844291687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39231184124946594},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37748128175735474},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37351247668266296},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3655243515968323},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14189490675926208}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.790186882019043},{"id":"https://openalex.org/C166955791","wikidata":"https://www.wikidata.org/wiki/Q629579","display_name":"Macro","level":2,"score":0.7638278007507324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5045105218887329},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46440860629081726},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.43467196822166443},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.429002046585083},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.415246844291687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39231184124946594},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37748128175735474},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37351247668266296},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3655243515968323},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14189490675926208},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3532214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3532214","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.41999998688697815,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1966709725","https://openalex.org/W1982927287","https://openalex.org/W1994349244","https://openalex.org/W2092663246","https://openalex.org/W2119156836","https://openalex.org/W2167667767","https://openalex.org/W2171568234","https://openalex.org/W2473719885","https://openalex.org/W2491179239","https://openalex.org/W2567342528","https://openalex.org/W2736522727","https://openalex.org/W2766159663","https://openalex.org/W2904061522","https://openalex.org/W2954966045","https://openalex.org/W2967566452","https://openalex.org/W2968719199","https://openalex.org/W2969305617","https://openalex.org/W2970129718","https://openalex.org/W2982528182","https://openalex.org/W2990457978","https://openalex.org/W3001456435","https://openalex.org/W3004398506","https://openalex.org/W3019394142","https://openalex.org/W3030834860","https://openalex.org/W3081972702","https://openalex.org/W3203571824","https://openalex.org/W3208343193","https://openalex.org/W4214886427","https://openalex.org/W4220766453","https://openalex.org/W4289538814","https://openalex.org/W4312251707","https://openalex.org/W4312749800","https://openalex.org/W4312763923","https://openalex.org/W4312868755","https://openalex.org/W4321438033","https://openalex.org/W4381163656","https://openalex.org/W4386133999","https://openalex.org/W4387705768","https://openalex.org/W4388561253","https://openalex.org/W4389403409","https://openalex.org/W4396980345"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W3204184292","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3176564347","https://openalex.org/W3160851599","https://openalex.org/W2355833770","https://openalex.org/W2078285315","https://openalex.org/W2964156592","https://openalex.org/W2527333706"],"abstract_inverted_index":{"Robotic":[0],"micromanipulation":[1,255,439],"systems":[2,256,440],"(RMS)":[3,257],"enable":[4],"precise":[5],"and":[6,37,52,62,81,84,125,134,144,161,167,205,213,239,264,315,339,354,366,385,412,450],"repeatable":[7],"operations":[8],"under":[9],"a":[10,109,363,367,418,429],"microscope.":[11],"Traditional":[12],"RMS":[13,48,269,350],"rely":[14],"solely":[15],"on":[16,40,113,140,268,272,329],"microscopic":[17],"visual":[18,240,279,360,405],"feedback,":[19],"necessitating":[20],"time-consuming":[21,323],"manual":[22,198,202,324],"positioning":[23,61,189,338],"to":[24,55,72,98,119,193,197,249,297,312,319,369,407,438],"bring":[25],"the":[26,30,57,74,79,86,100,104,107,122,129,148,150,165,174,186,233,251,282,285,288,294,298,301,306,310,313,330,343,371,374,389,392,402,409,414,426,448],"tool":[27,59,80,87,101,132,289,307,344],"tip":[28,60,102,133,188,290,308,380,383,410],"within":[29,293],"microscope":[31,368],"field-of-view":[32,76],"(Micro-FOV),":[33],"which":[34],"limits":[35],"efficiency":[36,449],"heavily":[38],"depends":[39,328],"operator":[41,393],"skill.":[42],"This":[43],"paper":[44,347],"proposes":[45],"an":[46,69,153,217,349,395],"innovative":[47],"that":[49,157,173,287,326,351],"integrates":[50,352],"macro":[51,75,160,182,353,364,379],"micro":[53,162,355,382],"vision":[54],"automate":[56],"aforementioned":[58],"facilitate":[63],"resilient":[64,137,214,340],"control.":[65],"The":[66,208,357,421],"system":[67,130,151,234,358,375,390,403],"utilizes":[68],"external":[70],"camera":[71,183,365],"obtain":[73],"(Macro-FOV),":[77],"containing":[78],"fiducial":[82],"markers,":[83],"estimates":[85],"tip\u2019s":[88],"3D":[89],"position":[90,411],"by":[91],"triangulation.":[92],"Visual":[93],"servoing":[94],"is":[95,117,291],"then":[96],"used":[97,118],"guide":[99],"towards":[103],"Micro-FOV.":[105],"Under":[106],"Micro-FOV,":[108],"tool-sweep":[110],"detector":[111],"based":[112,139],"partitioned":[114],"difference":[115],"images":[116],"sequentially":[120],"locate":[121],"tool\u2019s":[123],"shaft":[124],"tip.":[126],"After":[127,387],"auto-focusing,":[128],"executes":[131],"Petri":[135],"dish":[136],"control":[138,341,415],"our":[141],"developed":[142],"self-calibration":[143],"self-recalibration":[145,209,419],"mechanisms.":[146],"During":[147,400],"operation,":[149,199,401],"provides":[152,391],"intuitive":[154,396],"user":[155,398],"interface":[156],"includes":[158],"both":[159],"information,":[163],"improving":[164,206,447],"visualization":[166],"productivity":[168],"of":[169,220,276,304,332,342,373,432,444,452],"micromanipulation.":[170,453],"Experiments":[171],"show":[172],"self-initialization":[175,372,423],"scheme":[176],"can":[177,435],"be":[178,436],"implemented":[179],"across":[180],"different":[181,442],"viewpoints,":[184],"reducing":[185],"average":[187,218],"time":[190],"from":[191,281,309,362],"65.70":[192],"50.08":[194],"seconds":[195],"compared":[196],"thereby":[200,446],"decreasing":[201],"labor":[203],"intensity":[204],"efficiency.":[207],"mechanism":[210],"achieves":[211],"precision":[212,263,451],"control,":[215],"with":[216,284,394,441],"error":[219],"<inline-formula":[221],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[222],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[223],"<tex-math":[224],"notation=\"LaTeX\">$0.95~\\mu":[225],"$":[226],"</tex-math></inline-formula>m":[227],"over":[228],"25":[229],"continuous":[230],"trials.":[231],"Additionally,":[232],"exhibits":[235],"robustness":[236],"against":[237],"vibration":[238],"interference,":[241],"underscoring":[242],"its":[243],"potential":[244,427],"for":[245,260,428],"diverse":[246],"biomedical":[247,252],"applications.Note":[248],"Practitioners\u2014In":[250],"field,":[253],"robotic":[254],"are":[258],"valued":[259],"their":[261],"high":[262],"repeatability.":[265],"Existing":[266],"research":[267],"typically":[270],"focuses":[271],"achieving":[273],"varying":[274],"degrees":[275],"automation":[277],"using":[278],"feedback":[280,361,406],"microscope,":[283],"assumption":[286],"already":[292],"Micro-FOV":[295,314],"prior":[296],"task.":[299],"However,":[300],"initial":[302],"step":[303],"moving":[305],"Macro-FOV":[311],"eventually":[316],"bringing":[317],"it":[318],"focus":[320],"usually":[321],"requires":[322],"operation":[325],"highly":[327],"skill":[331],"individual":[333],"operators.":[334],"To":[335],"achieve":[336],"automatic":[337],"tip,":[345],"this":[346],"presents":[348],"vision.":[356],"combines":[359],"complete":[370],"in":[376],"three":[377],"steps:":[378],"positioning,":[381,384],"self-calibration.":[386],"self-initialization,":[388],"cursor-based":[397],"interface.":[399],"uses":[404],"detect":[408],"ensures":[413],"accuracy":[416],"through":[417],"mechanism.":[420],"proposed":[422],"method":[424],"has":[425],"wide":[430],"range":[431],"applications.":[433],"It":[434],"extended":[437],"types":[443],"end-effectors,":[445]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}