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. Author manuscript; available in PMC: 2019 Aug 1.
Published in final edited form as: Integr Biol (Camb). 2018 Jul 20;10(8):450–463. doi: 10.1039/c8ib00045j

Figure 1. HAWK system overview.

Figure 1.

A PC computer runs the custom HAWK software to manage the tracking, stimulus set up and trigger, data acquisition, and user interface. The software controls the camera and stage hardware. The oblique light source and inverted configuration of HAWK images worms, but not the force probe or the background. The resolution of the images is 1.76 μm/pixel. The camera captures images of the freely moving animal, which are processed by the HAWK image processing module. The HAWK software then translates the microscopy stage to position the animal underneath the force probe, enabling targeting. To apply a controlled force, the RTOS/FPGA uses the sensor signals from the force probe displacement and the actuator position to adjust the piezoelectric actuator position.