Autonomous Positioning of Piezoactuated Mechanism for Biological Cell Puncture

Description

Autonomous Positioning of Piezoactuated Mechanism for Biological Cell Puncture gives a systematic and almost self-contained description of the many facets of advanced design, optimization, modeling, system identification, and advanced control techniques for positioning of the cell puncture mechanism with a piezoelectric actuator in micro/nanorobotics systems. To achieve biomedical applications, reliability design, modeling, and precision control are essential for developing engineering systems. With the advances in mechanical design, dynamic modeling, system identification, and control techniques, it is possible to expand the advancements in reliability design, precision control, and quick actuation of micro/nanomanipulation systems to the robot’s applications at the micro- and nanoscales, especially for biomedical applications. This book unifies existing and emerging techniques concerning advanced design, modeling, and advanced control methodologies in micropuncture of biological cells using piezoelectric actuators with their practical biomedical applications. The book is an essential resource for researchers within robotics, mechatronics, biomedical engineering, and automatic control society, including both academic and industrial parts. KEY FEATURES • Provides a series of latest results in, including but not limited to, design, modeling, and control of micro/nanomanipulation systems utilizing piezoelectric actuators • Gives recent advances of theory, technological aspects, and applications of advanced modeling, control, and actuation methodologies in cell engineering applications • Presents simulation and experimental results to reflect the micro/nano manipulation practice and validate the performances of the developed design, analysis, and synthesis approaches Cover Half Title Series Page Title Page Copyright Page Table of Contents Preface Authors Chapter 1: Introduction 1.1 Background 1.2 Motivation 1.3 Significance 1.4 Chapter Arrangement References Chapter 2: Structural Design and Optimization of Cell Puncture Mechanism 2.1 Introduction 2.2 Overall Structural Design of the Cell Puncture Mechanism 2.3 Overall Static Analysis 2.3.1 Modeling Assumptions for Flexible Hinge One Degree of Freedom 2.3.2 2-DOF Modeling Assumptions for Flexible Hinges 2.3.3 Rigid-flexible Coupling Modeling of Flexible Hinges with Variable Sections 2.4 Natural Frequency Analysis based on Lagrangian Method 2.5 Optimization of the Geometric Dimensions of the Mechanism 2.5.1 Geometric Dimension Optimization based on Differential Evolution Algorithms 2.5.2 Geometry Optimization based on Finite Element Simulation Technology 2.5.3 Sixth-order Modal Analysis and Verification of Optimization Results 2.6 Conclusion References Chapter 3: Dynamic Modeling, System Identification, and Hysteresis Effect of the Cell Puncture Mechanism 3.1 Dynamic Modeling 3.2 Hysteresis Effect 3.3 System Identification 3.3.1 Identification of Linear Component 3.3.2 Identification of Hysteretic Nonlinear Component 3.4 Conclusion References Chapter 4: Position Tracking of Cell Puncture Mechanism Using Composite Proportional Integral Sliding Mode Control with Feedforward Control 4.1 Introduction 4.2 Experimental Setup 4.3 Controller Design 4.3.1 Design of FF Controller 4.3.2 Design of Composite Controller based on PID FB 4.3.3 Design of Composite Controller based on PISMC FB 4.4 Comparative Simulation Studies 4.4.1 Trajectory Tracking Simulations 4.4.2 Anti-Interference Simulation 4.5 Cell Puncture Experiment 4.6 Conclusion Appendix References Chapter 5: Motion Control of Cell Puncture Mechanism Based on Fractional Non-singular Terminal Sliding Mode 5.1 Introduction 5.2 Dynamic Model of Cell Puncture Mechanism 5.3 Controller Design 5.3.1 Prior Knowledge 5.3.2 Robust Controller Design 5.3.3 Robust Exact Differentiator 5.4 Comparative Simulation Studies 5.5 Semi-physical Displacement Tracking Experiment 5.6 Cell Puncture Experiment 5.7 Conclusion Appendix Stability Analysis Controller Adjustment Three Controllers for Comparison Control 1: Wang’s Controller Control 2: MB-FNTSM Controller Control 3: MF-FNTSM Controller References Chapter 6: Motion Tracking of Cell Puncture Mechanism Using Improved Sliding Mode Control with Time-Delay Estimation Technology 6.1 Introduction 6.2 Robust Controller Design 6.2.1 Controller Design 6.2.2 Estimation of Full State Feedback 6.2.3 Stability Analysis 6.2.4 Parameter Tuning of the Controller 6.3 Computer Simulation Experiment 6.3.1 Controllers for Comparison 6.3.2 Computer Simulation Experiments 6.4 Experimental Testing 6.4.1 Setup of Semi-Physical Simulation Experiment 6.4.2 Semi-Physical Experiment Results 6.4.3 Cell Puncture Experiment 6.5 Conclusion References Chapter 7: Micro-Force Tracking Control of Cell Puncture Mechanism Based on Time-Delay Estimation Technology 7.1 Introduction 7.2 Kinetic Model of Cell Puncture Process 7.3 Design of Micro-Force Tracking Controller 7.3.1 Controller Design 7.3.2 Stability Analysis 7.4 Simulation Experiment of Micro-Force Tracking Control 7.4.1 PID Controller for Micro-Force Tracking 7.4.2 Simulation Results 7.5 Hardware-in-the-loop Simulation Experiment of TDE-PID Controller 7.5.1 Development of Resistance Strain Gauge Micro-force Sensor 7.5.2 Micro-Force Tracking Experiment 7.6 Conclusion References Chapter 8: Hybrid Control Strategy of Force and Position for Cell Puncture Based on Adaptive Smooth Switching 8.1 Introduction 8.2 Cell Puncture Strategy 8.3 Adaptive Smooth Switching Algorithm based on Multisensor Information Fusion 8.4 Overall Flow of Force Position Hybrid Control 8.5 Experimental Study of Force Position Hybrid Control 8.5.1 Computer Simulation Experiment of Cell Micropuncture 8.5.2 Establishment of Cell Micropuncture Experimental Environment 8.5.3 Hardware-in-the-Loop Simulation Experiment of Cell Micropuncture 8.6 Conclusion References Chapter 9: Automated Cell Biopsy Utilizing Micropuncture Technique 9.1 Introduction 9.2 Microfluidic Cell Patterning Strategy 9.2.1 Cell Patterning 9.2.2 Cell Compression for Organelle Positioning 9.3 Cell Biopsy Process 9.3.1 Procedures of Automatic Organelle Extraction and Release 9.3.2 Motion Control 9.3.3 Biological Tests 9.4 Experiments 9.4.1 Material Preparation 9.4.2 Detection of Mitochondria, Nucleus and Storing Space 9.4.3 Organelle Extraction 9.4.4 Biological Tests on Extracted Organelles and the Remained Cells 9.5 Conclusion References Index