1 feedback control of a micro manipulator alarm lab
TRANSCRIPT
![Page 1: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/1.jpg)
1
FEEDBACK CONTROL OF A FEEDBACK CONTROL OF A
MICRO MANIPULATORMICRO MANIPULATOR
ALARM LABALARM LAB
![Page 2: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/2.jpg)
2
ALARM LABALARM LAB
On 3 stages:
Total displacement = 25mm (coarse / micrometer) 300300m (fine / PZT)m (fine / PZT)
Resolution = 100nm100nm (Joystick)
knob
Z
yx
![Page 3: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/3.jpg)
3
ALARM LABALARM LAB
PZT flexurePipette (8m diameter)
![Page 4: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/4.jpg)
4
Application of the micro-manipulator
Micro-injection (ICSI )Micro-injection (ICSI ) Micro-dissectionMicro-dissection
Zona penetration
Zona
Taking out the dissected membrane
Zona Penetration
Sperm injection
Capturing the X chromosome
Dissecting
Taking the dissected part out
Storing the dissected chromosome
ALARM LABALARM LAB
![Page 5: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/5.jpg)
5
MOTIVATION
• Motion Control of the tip
100nm is not enough for many sub-micron biological applications
• Dynamic Modeling
The uncertainties are causing very low success rates in biological applications
ALARM LABALARM LAB
![Page 6: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/6.jpg)
6
ALARM LABALARM LAB
PiezzoDrill control
Manipulator control
Current
Feedback
CURRENT SETUPCURRENT SETUP
![Page 7: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/7.jpg)
7
ALARM LABALARM LAB
Control card
ROBUST CONTROLLOGIC F
eedb
ack
Control signal
![Page 8: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/8.jpg)
8
ALARM LABALARM LAB
Present work
• Analyical model of the manipulator (excluding the pipette).
• Experimental set-up and tests on the same .
• Comparison of the experimental and analytical results.
• Experiments (including the pipette) with Hg in the pipette and without.
![Page 9: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/9.jpg)
9
Dynamic model
M2
X2
M1
X1
F
Spring (Ki)
Damper (Ci)
PZT force (F)
Equivalent mass (Mi)
F
M3
X3
Input : F; measured output X3
ALARM LABALARM LAB
![Page 10: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/10.jpg)
10
0 0.002 0.004 0.006 0.008 0.01-1.5
-1
-0.5
0
0.5
1
1.5
Time (sec)
Dis
plac
emen
t (u
m)
X3 displacement comparison (the experiments vs. dynamic model)
ALARM LABALARM LAB
![Page 11: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/11.jpg)
11
0 0.5 1 1.5 2 2.5
x 104
0
0.005
0.01
0.015
0.02
0.025
Frequency (Hz)
Dis
plac
emen
t(um
)FFT comparison (the experiments vs. dynamic model)
ALARM LABALARM LAB
![Page 12: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/12.jpg)
12
TipPhotonic probePhotonic probe
Nano level displacement measurement setup
ALARM LABALARM LAB
![Page 13: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/13.jpg)
13
Working principle of photonic probe
Light source
Ou
tpu
t (V
)
Distance (m)
Probe to target
distance
ALARM LABALARM LAB
Resolution = 2.5nmResolution = 2.5nm
![Page 14: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/14.jpg)
14
ALARM LABALARM LAB
Experimental procedure
Photonic sensorGap
Read out (V)
5 10 15 20 25 300
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Vol
tage
Time
![Page 15: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/15.jpg)
15
ALARM LABALARM LAB
0 1 2 3 4 5 6-150
-100
-50
0
50
100
Time (sec)
Dis
plac
emen
t (nm
)Joystick control
![Page 16: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/16.jpg)
16
Setup for ICSI experiment without Mercurywithout Mercury
Vol
tage
Time
ALARM LABALARM LAB
Read out (V)
Pipette dia. < 8
![Page 17: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/17.jpg)
17
ALARM LABALARM LAB
Setup for ICSI experiment with Mercurywith Mercury
Vol
tage
Time
MercuryMercuryMercuryMercuryMercuryMercuryMercury
Read out (V)
![Page 18: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/18.jpg)
18
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
-0.25
-0.2
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
0.2
0.25
Time (sec)
X3 D
ispl
acem
ent (
um) without mercury
with mercury
X3 displacement comparison
ALARM LABALARM LAB
![Page 19: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/19.jpg)
19
0 0.5 1 1.5 2 2.5
x 104
0
0.002
0.004
0.006
0.008
0.01
0.012
0.014
Frequency (Hz)
Dis
plac
emen
t (um
)
without mercury
with mercury
FFT comparison
ALARM LABALARM LAB
![Page 20: 1 FEEDBACK CONTROL OF A MICRO MANIPULATOR ALARM LAB](https://reader035.vdocuments.us/reader035/viewer/2022062518/56649f1b5503460f94c30e8c/html5/thumbnails/20.jpg)
20
Observations
• The key is at the micro-dynamics of the pipette tip.• The pipette holder does not feel the presence of Hg. • Robust control is possible at 10nm of resolution
Obstacles
• Extreme flexibility at the tip (glass acts like fiber). • Displacement sensing (in 2-D) at the pipette tip• Complex visco-elastic interface between the Hg and
the pipette.
ALARM LABALARM LAB