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.

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.

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.

scholarly journals Feedback control for defect-free alignment of colloidal particles

Lab on a Chip ◽  
2018 ◽  
Vol 18 (14) ◽  
pp. 2099-2110 ◽  
Author(s):  
Yu Gao ◽  
Richard Lakerveld
Keyword(s):  
Feedback Control ◽  
Microfluidic Device ◽  
Self Assembly ◽  
Colloidal Particles ◽  
Control Method ◽  
Feedback Control Method

A novel feedback control method to align colloidal particles reliably via directed self-assembly in a microfluidic device is presented.

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