0

Full Content is available to subscribers

Subscribe/Learn More  >

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

[+] Author Affiliations
Zhenyu Zhang, Jhon Diaz, Nejat Olgac

University of Connecticut, Storrs, CT

Paper No. DSCC2011-6065, pp. 463-470; 8 pages
doi:10.1115/DSCC2011-6065
From:
  • 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
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME

abstract

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.

Copyright © 2011 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In