SMC based bilateral control

Design of a motion control system should take into account (a) unconstrained motion performed without interaction with environment or other system, and (b) constrained motion with system in contact with environment or another system or has certain functional interaction with another system. Control in both cases can be formulated in terms of maintaining desired system configuration what makes essentially the same structure for common tasks: trajectory tracking, interaction force control, compliance control etc. It will be shown that the same design approach can be used for systems that maintain some functional relation – like bilateral or multilateral systems, relation among mobile robots or control of haptic systems.

Controling interactions in motion control systems

Design of motion control systems should take into account (a) unconstrained motion performed without interaction with environment or other systems, (b) constrained motion performed by certain functional interaction with environment or other system. Control in both cases can be formulated in terms of maintaining desired system configuration what makes essentially the same structure for common tasks: trajectory tracking, interaction force control, compliance control etc. It will be shown that the same design approach can be used for systems that maintain some functional relations like parallel robots

Sliding modes in constrained systems control

Abstract—In this paper, a sliding-mode-based design framework for fully actuated mechanical multibody system is discussed. The framework is based on the possibility to represent complex motion as a collection of tasks and to find effective mapping of the system coordinates that allows decoupling task and constraint control so one is able to enforce concurrently, or in certain time succession, the task and the constraints. The approach seems naturally encompassing the control of motion systems in interaction, and it allows application to bilateral control, multilateral control, etc. Such an approach leads to a more natural interpretation of the system tasks, simpler controller design, and easier establishment of the systems hierarchy. It allows a unified mathematical treatment of task control in the presence of constraints required to be satisfied by the system coordinates. In order to show the applicability of the proposed techniques, simulation and experimental results for high-precision systems in microsystem assembly tasks and bilateral control systems are presented

Discrete sliding mode control of piezo actuator in nano-scale range

In this paper Discrete Sliding Mode Control (SMC) of Piezo actuator is demonstrated in order to achieve a very high accuracy in Nano-scale with the desired dynamics. In spite of the fast dynamics of the Piezo actuator the problem of chattering is eliminated with the SMC control structure. The Piezo actuator suffers from hysteresis loop which is the inherent property and it gives rise to the dominant non-linearity in the system. The proposed SMC control structure has been proved to deliver chattering free motion along with the compensation of the non linearity present due to hysteresis in the system. To further enhance the accuracy of the closed loop system and to be invariant to changes in the plant parameters a robust disturbance observer is designed on SMC framework by taking into consideration the lumped nominal plant parameters. Experimental results for closed loop position are presented in order to verify the Nano-scale accuracy

Single-cell mechanophenotyping in microfluidics to evaluate behavior of U87 glioma cells

Integration of microfabricated, single-cell resolution and traditional, population-level biological assays will be the future of modern techniques in biology that will enroll in evolution of biology into a precision scientific discipline. In this study, we developed a microfabricated cell culture platform to investigate indirect influence of macrophages on glioma cell behavior. We quantified proliferation, morphology, motility, migration, and deformation properties of glioma cells at single-cell level and compared these results with population-level data. Our results showed that glioma cells obtained slightly slower proliferation, higher motility and extremely significant deformation capability when cultured with 50% regular growth medium and 50% macrophage-depleted medium. When the expression levels of E-cadherin and Vimentin proteins were measured, it was verified that observed mechanophenotypic alterations in glioma cells were not due to epithelium to mesenchymal transition. Our results were consistent with previously reported enormous heterogeneity of U87 glioma cell line. Herein, for the first time, we quantified the change of deformation indexes of U87 glioma cells using microfluidic devices for single-cells analysis

A study on high accuracy discrete-time sliding mode control

In this paper a Discrete-Time Sliding-Mode based controller design for high accuracy motion control systems is presented. The controller is designed for a general SISO system with nonlinearity and external disturbance. Closed-Loop behavior of the general system with the proposed control and Lyapunov stability is shown and the error of the closed loop system is proven to be within an o(T2). The proposed controller is applied to a stage driven by a piezo drive that is known to suffer from hysteresis nonlinearity in the control gain. Proposed SMC controller is proven to offer chattering-free motion and rejection of the disturbances represented by hysteresis and the time variation of the piezo drive parameters. As a separate idea to enhance the accuracy of the closed loop system a combination of disturbance rejection method and the SMC controller is explored and its effectiveness is experimentally demonstrated. Closed-loop experiments are presented using PID controller with and without disturbance compensation and Sliding-Mode Controller with and without disturbance compensation for the purpose of comparison

Function based control for motion control systems

Motion control systems are gaining importance as more and more sophisticated developments arise in technology. Technological improvements enhance incorporation of different research areas into the same framework while trying to make systems function in unstructured environments renders the design of control systems increasingly complex. Since motion systems are complex, they have complex forward or inverse kinematics, or interactions with other systems. In this study, motion of the systems is decomposed into the tasks, so called “functions”. Independent controllers are designed for these functions in the function space. It is proven that motion systems will be controlled in the original space if function based control outputs are superposed. Applicability of this method is demonstrated on bilateral systems and parallel mechanisms. Bilateral systems application proved that function based control can be used in controlling systems with interactions while establishing desired functional relation between them. Moreover, investigation of a pantograph and a three-legged manipulator, which come from the parallel mechanisms family and have nonlinear and coupled system dynamics, showed that creating an appropriate reference configuration to realize the task of motion control helps decouple system dynamics. Satisfactory simulation results show that functional control can be implemented and its characteristics promise successful future designs for motion control systems

Quantifying heterogeneity according to deformation of the U937 monocytes and U937-differentiated macrophages using 3D carbon dielectrophoresis in microfluidics

A variety of force fields have thus far been demonstrated to investigate electromechanical properties of cells in a microfluidic platform which, however, are mostly based on fluid shear stress and may potentially cause irreversible cell damage. This work presents dielectric movement and deformation measurements of U937 monocytes and U937-differentiated macrophages in a low conductive medium inside a 3D carbon electrode array. Here, monocytes exhibited a crossover frequency around 150 kHz and presented maximum deformation index at 400 kHz and minimum deformation index at 1 MHz frequencies at 20 Vpeak-peak. Although macrophages were differentiated from monocytes, their crossover frequency was lower than 50 kHz at 10 Vpeak-peak. The change of the deformation index for macrophages was more constant and lower than the monocyte cells. Both dielectric mobility and deformation spectra revealed significant differences between the dielectric responses of U937 monocytes and U937-differentiated macrophages, which share the same origin. This method can be used for label-free, specific, and sensitive single-cell characterization. Besides, damage of the cells by aggressive shear forces can, hence, be eliminated and cells can be used for downstream analysis. Our results showed that dielectric mobility and deformation have a great potential as an electromechanical biomarker to reliably characterize and distinguish differentiated cell populations from their progenitors

On-chip isoniazid exposure of mycobacterium smegmatis penicillin-binding protein (PBP) mutant using time-lapse fluorescent microscopy

Antibiotic resistance has been one of the biggest threats to global health. Despite the available prevention and control strategies and efforts in developing new antibiotics, the need remains for effective approaches against antibiotic resistance. Efficient strategies to cope with antimicrobial resistance require a quantitative and deeper understanding of microbial behavior, which can be obtained using different techniques to provide the missing pieces of the current antibiotic-resistance puzzle. Microfluidic-microscopy techniques are among the most promising methods that contribute modernization of traditional assays in microbiology. They provide monitoring and manipulation of cells at micro-scale volumes. Here, we combined population-level, culture-based assays with single-cell resolution, microfluidic-microscopy systems to investigate isoniazid response of Mycobacterium smegmatis penicillin-binding protein (PBP) mutant. This mutant exhibited normal growth in plain medium and sensitivity to stress responses when treated with thermal stress (45 °C), detergent stress (0.1% sodium dodecyl sulfate), acid stress (pH 4.5), and nutrient starvation (1XPBS). The impact of msm0031 transposon insertion on drug-mediated killing was determined for isoniazid (INH, 50 µg/mL), rifampicin (RIF, 200 µg/mL), ethionamide (ETH, 200 µg/mL), and ethambutol (EMB, 5 µg/mL). The PBP mutant demonstrated remarkable isoniazid-killing phenotype in batch culture. Therefore, we hypothesized that single-cell analysis will show increased lysis kinetics and fewer intact cells after drug treatment. However, the single-cell analysis data showed that upon isoniazid exposure, the percentage of the intact PBP mutant cells was 24%, while the percentage of the intact wild-type cells was 4.6%. The PBP mutant cells exhibited decreased cell-lysis profile. Therefore, the traditional culture-based assays were not sufficient to provide insights about the subpopulation of viable but non-culture cells. Consequently, we need more adequate tools to be able to comprehend and fight the antibiotic resistance of bacteria