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.
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ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
October 31–November 2, 2011
Arlington, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5476-1
PROCEEDINGS PAPER
Adaptive Hybrid Control for Rotationally Oscillating Drill (Ros-Drill©), Using a Low-Resolution Sensor Available to Purchase
Zhenyu Zhang,
Zhenyu Zhang
University of Connecticut, Storrs, CT
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Jhon Diaz,
Jhon Diaz
University of Connecticut, Storrs, CT
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Nejat Olgac
Nejat Olgac
University of Connecticut, Storrs, CT
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Zhenyu Zhang
University of Connecticut, Storrs, CT
Jhon Diaz
University of Connecticut, Storrs, CT
Nejat Olgac
University of Connecticut, Storrs, CT
Paper No:
DSCC2011-6065, pp. 463-470; 8 pages
Published Online:
May 5, 2012
Citation
Zhang, Z, Diaz, J, & Olgac, N. "Adaptive Hybrid Control for Rotationally Oscillating Drill (Ros-Drill©), Using a Low-Resolution Sensor." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 463-470. ASME. https://doi.org/10.1115/DSCC2011-6065
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