Adaptive Hybrid Control for Rotationally Oscillating Drill (Ros-Drill©), Using a Low-Resolution Sensor

2011 ◽  
Author(s):  
Zhenyu Zhang ◽  
Jhon Diaz ◽  
Nejat Olgac
Keyword(s):  
Control System ◽  
Hybrid Control ◽  
Control Procedure ◽  
Practical Case ◽  
Continuous Control ◽  
Motion Sensors ◽  
Low Resolution ◽  
Control Logic ◽  
Biological Damage ◽  
Rotational Oscillations

A novel hybrid (i.e., discrete/continuous) control system is studied on a cellular microinjector technology called the Ros-Drill© (Rotationally Oscillating Drill). Ros-Drill© is developed primarily for ICSI (Intra-Cytoplasmic Sperm Injection). It is an inexpensive set-up, which creates high-frequency rotational oscillations at the tip of an injection pipette tracking a harmonic motion profile. These rotational oscillations enable the pipette to drill into cell membranes with minimum biological damage. Such a motion control procedure presents no particular difficulty when it uses sufficiently precise motion sensors. However, size, costs and accessibility of technology on hardware components may severely constrain the sensory capabilities. Then the trajectory tracking is adversely affected. In this paper we handle such a practical case, and present a novel adaptive-hybrid control logic to overcome the hurdles. The control is implemented using a commonly available microcontroller and extremely low-resolution position measurements. First, the continuous control system is analyzed and designed. Then, an adaptive, robust and optimal PID (proportional-integral-derivative) control strategy is performed. We demonstrate via simulations and experiments that the tracking of the harmonic rotational motion is achieved with desirable fidelity.

An Adaptive Control Method With Low-Resolution Encoder

2013 ◽  
Author(s):  
Zhenyu Zhang ◽  
Nejat Olgac
Keyword(s):  
Adaptive Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Biomedical Application ◽  
Control Procedure ◽  
Motion Sensors ◽  
Low Resolution ◽  
Biological Damage ◽  
Feedback Control Method ◽  
Rotational Oscillations

An adaptive control methodology with a low-resolution encoder feedback is presented for a biomedical application, the Ros-Drill (Rotationally Oscillating Drill). It is developed primarily for ICSI (Intra-Cytoplasmic Sperm Injection) operations, with the objective of tracking a desired oscillatory motion at the tip of a microscopic glass pipette. It is an inexpensive set-up, which creates high-frequency (higher than 500 Hz) and small-amplitude (around 0.2 deg) rotational oscillations at the tip of an injection pipette. These rotational oscillations enable the pipette to drill into cell membranes with minimum biological damage. Such a motion control procedure presents no particular difficulty when it uses sufficiently precise motion sensors. However, size, costs and accessibility of technology on the hardware components severely constrain the sensory capabilities. Consequently the control mission and the trajectory tracking are adversely affected. This paper presents a dedicated novel adaptive feedback control method to achieve a satisfactory trajectory tracking capability. We demonstrate via experiments that the tracking of the harmonic rotational motion is achieved with desirable fidelity.

scholarly journals An Adaptive Control Method for Ros-Drill Cellular Microinjector with Low-Resolution Encoder

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Zhenyu Zhang ◽  
Nejat Olgac
Keyword(s):  
Feedback Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Control Procedure ◽  
Motion Sensors ◽  
Low Resolution ◽  
Biological Damage ◽  
Feedback Control Method ◽  
Control Methodology ◽  
Rotational Oscillations

A novel control methodology which uses a low-resolution encoder is presented for a cellular microinjection technology called the Ros-Drill (rotationally oscillating drill). It is developed primarily for ICSI (intracytoplasmic sperm injection) operations, with the objective of generating a desired oscillatory motion at the tip of a micro glass pipette. It is an inexpensive setup, which creates high-frequency (higher than 500 Hz) and small-amplitude (around 0.2 deg) rotational oscillations at the tip of an injection pipette. These rotational oscillations enable the pipette to drill into cell membranes with minimum biological damage. Such a motion control procedure presents no particular difficulty when it uses sufficiently precise motion sensors. However, size, costs, and accessibility of technology to the hardware components severely constrain the sensory capabilities. Consequently, the control mission and the trajectory tracking are adversely affected. This paper presents two contributions: (a) a dedicated novel adaptive feedback control method to achieve a satisfactory trajectory tracking capability. We demonstrate via experiments that the tracking of the harmonic rotational motion is achieved with desirable fidelity; (b) some important analytical features and related observations associated with the controlled harmonic motion which is created by the low-resolution feedback control structure.

scholarly journals A Visitor’s Hybrid Smart Guide Control System

2019 ◽  
Vol 7 (1) ◽  
pp. 9-18
Author(s):  
Cliff Orori Mosiori
Keyword(s):  
Control System ◽  
Control Systems ◽  
Hybrid Systems ◽  
Hybrid Control ◽  
Reactive Systems ◽  
Discrete Systems ◽  
Industrial Society ◽  
Continuous Control ◽  
General Terms ◽  
Technical University

Modern industrial society is filled with hybrid systems. The effectiveness of a control system is now a basic requirement in any institution. In general terms, hybrid systems are reactive systems that intermix discrete and continuous control components in which the discrete part of that control system makes the decision on behaving for the whole designed system and further decides if it can allow it to switch to another set of control protocols when appropriate conditions are availed. The continuous part only functions according to a specified protocol. Hybrid systems are common models used in digital (logic) and continuous networks and devices. Digital control programs detect, control, and supervise continuous and discrete systems using differential or difference equations. This principle was utilized in our design and reported thereof. Although this work developed a different method to deal with specific problems facing students at Technical University of Mombasa.  An upgrade was recommended so as to extend the control system to the eye- impaired students and visitors. Since the issue of optimal smart control systems cannot be ignored in the design of new control systems with today's requirements in our learning institutions, it was concluded that further research was necessary to bring about a fully reliable and well-developed control system able to use real-time and real routes as they exist at the university ground. This work reports a hybrid control guide system designed and implemented at the Technical University of Mombasa.  

Research on hybrid control system of quadrotor UAV

2013 ◽  
Vol 33 (3) ◽  
pp. 858-861 ◽  
Author(s):  
Guoqing XIA ◽  
Yuefeng LIAO ◽  
Lu WANG
Keyword(s):  
Control System ◽  
Hybrid Control ◽  
Quadrotor Uav ◽  
Hybrid Control System

scholarly journals SISTEM FUZZY PADA KONTROLING AERATOR UNTUK MENINGKATKAN KUALITAS AIR KOLAM PEMBIBITAN IKAN MENGGUNAKAN SENSOR DO DAN SENSOR SUHU

2021 ◽  
Vol 8 (1) ◽  
pp. 39
Author(s):  
Andi Farmadi ◽  
Muliadi Muliadi
Keyword(s):  
Water Quality ◽  
Control System ◽  
Dissolved Oxygen ◽  
Continuous Control ◽  
Engine Control ◽  
Inference System ◽  
Analysis And Design ◽  
Oxygen Levels ◽  
Engine Control System ◽  
Smart Machine

<p><em>Dissolved oxygen levels in water will affect water quality directly and indirectly for fish life as well as conditions in the water environment, therefore, it is very important to control water quality for adequate dissolved oxygen levels, because this plays an important role in the health condition of the environmental ecosystem for fish nurseries. Researchers usually measure and monitor water quality using measuring instruments that are widely sold in the market, for conditions of decreasing dissolved oxygen levels in fish nurseries tank can usually be controlled by adding an air bubble machine to the water using an aerator machine. Giving air bubbles to water is an effort to control the conditions for the adequacy of dissolved oxygen in the water, and the best system is to carry out a continuous control system regarding water quality, sometimes the oxygen condition in the water is sufficient for the standard of dissolved oxygen in water. However, the blower blower is still running, this is less effective because it requires unnecessary electrical energy or wastes energy. Analysis of the aerator engine control system is needed to make a design as to what state the aerator engine should be turned on. Analysis of the aerator engine control system can be done by measuring the level of oxygen and water temperature in the fish nursery tank, then designing a fuzzy model with the Sugeno inference system for how long the engine must be turned on. The analysis and design of this aerator system is a proposed solution to these problems with a system of measurement and monitoring carried out intelligently by a machine, so that it is able to measure how late this aerator machine must be turned on. and the developed design is capable of being a smart machine using a fuzzy system</em></p><p><strong><em>Keywords</em></strong><em>: Fuzzy inference, aerator engine, smart system, water quality.</em></p><p><em>Kadar oksigen terlarut dalam air akan mempengaruhi kualitas air secara langsung dan tidak langsung bagi kehidupan ikan juga keadaan di lingkungan air tersebut, oleh karena itu peningkatan kualitas air untuk keadaan kecukupan kadar oksigen yang terlarut sangat penting untuk dikontrol, karena hal ini berperan penting pada kondisi kesehatan ekosistem lingkungan pembibitan ikan. </em><em>Para peneliti biasanya melakukan pengukuran dan pemantauan kualitas air dengan menggunakan alat ukur yang banyak di jual dipasaran, untuk kondisi menurunnya kadar oksigen yang terlarut pada kolam pembibitan ikan biasanya dapat di kontrol dengan menambahkan mesin gelembung udara pada air menggunakan mesin aerator. Pemberian gelembung udara pada air merupakan salah satu upaya untuk mengontrol kondisi kecukupan kadar oksigen yang terlarut di dalam air, dan sistem yang terbaik yaitu melakukan sistem kontrol secara terus menerus mengenai kualitas air, terkadang kondisi oksigen di dalam air telah mencukupi standar kecukupan oksigen terlarut pada air, namun mesin penyembur gelembung udara masih dinyalakan, hal ini menjadi kurang efektif sebab akan membutuhkan energi listrik yang tidak semestinya atau terjadinya pemborosan energi. Analisis sistem pengontrolan mesin aerator dibutuhkan untuk melakukan desain seperti apa sebaiknya keadaan mesin aerator dihidupkan. Analisis sistem pengontrolan mesin aerator ini dapat dilakan dengan mengukur tingkat kadar oksigen dan suhu air pada kolam pembibitan ikan, kemudian melakukan perancangan model fuzzy dengan sistem inferensi sugeno seberapa lama mesin harus dihidupkan. Analisis dan desain sistem aerator ini merupakan usulan solusi permasalahan tersebut dengan sistem pengukuran dan pemantauan dilakukan secara cerdas oleh mesin, sehingga mampu mengukur seberapa lalma mesin aerator ini harus dihidupkan desain alat ini juga diharapkan mampu memberikan solusi peningkatan kualitas air pada pembibitan ikan dan diharapan pula analisis dan desain yang dikembangkan ini mampu menjadi mesin cerdas dengan menggukan sistem fuzzy</em></p><p><strong><em>Kata kunci</em></strong><em> : Fuzzy inferensi, mesin aerator, Sistem cerdas, kualitas air.</em></p>

CMAC Based Hybrid Control System for Solving Electrohydraulic System Nonlinearities

2014 ◽  
Vol 4 (2) ◽  
pp. 47-72
Author(s):  
Amro Shafik ◽  
Magdy Abdelhameed ◽  
Ahmed Kassem
Keyword(s):  
Neural Network ◽  
Control System ◽  
Hybrid Control ◽  
Learning Algorithm ◽  
Cerebellar Model Articulation Controller ◽  
Stick Slip ◽  
Electrohydraulic System ◽  
Cmac Neural Network ◽  
Wide Range ◽  
Hybrid Control System

Automation based electrohydraulic servo systems have a wide range of applications in nowadays industry. However, they still suffer from several nonlinearities like deadband in electrohydraulic valves, hysteresis, stick-slip friction in valves and cylinders. In addition, all hydraulic system parameters have uncertainties in their values due to the change of temperature while working. This paper addresses these problems by designing a suitable intelligent control system that has the ability to deal with the system nonlinearities and parameters uncertainties using a fast and online learning algorithm. A novel hybrid control system based on Cerebellar Model Articulation Controller (CMAC) neural network is presented. The proposed controller is composed of two parallel controllers. The first is a conventional Proportional-Velocity (PV) servo type controller which is used to decrease the large initial error of the closed-loop system. The second is a CMAC neural network which is used as an intelligent controller to overcome nonlinear characteristics of the electrohydraulic system. A fourth order model for the electrohydraulic system is introduced. PV controller parameters are tuned to get optimal values. Simulation and experimental results show a good tracking performance obtained using the proposed controller. The controller shows its robustness in two working environments. The first is by adding different inertia loads and the second is working with noisy level input signals.

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