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

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

Single cell functional proteomics for assessing immune response in cancer therapy: technology, methods, and applications

In the past decade, significant progresses have taken place in the field of cancer immunotherapeutics, which are being developed for most human cancers. New immunotherapeutics, such as Ipilimumab (anti-CTLA-4), have been approved for clinical treatment; cell-based immunotherapies such as adoptive cell transfer (ACT) have either passed the final stage of human studies (e.g., Sipuleucel-T) for the treatment of selected neoplastic malignancies or reached the stage of phase II/III clinical trials. Immunotherapetics has become a sophisticated field. Multimodal therapeutic regimens comprising several functional modules (up to five in the case of ACT) have been developed to provide focused therapeutic responses with improved efficacy and reduced side-effects. However, a major challenge remains: the lack of effective and clinically applicable immune assessment methods. Due to the complexity of antitumor immune responses within patients, it is difficult to provide comprehensive assessment of therapeutic efficacy and mechanism. To address this challenge, new technologies have been developed to directly profile the cellular immune functions and the functional heterogeneity. With the goal to measure the functional proteomics of single immune cells, these technologies are informative, sensitive, high-throughput, and highly multiplex. They have been used to uncover new knowledge of cellular immune functions and have been utilized for rapid, informative, and longitudinal monitoring of immune response in clinical anti-cancer treatment. In addition, new computational tools are required to integrate high-dimensional data sets generated from the comprehensive, single cell level measurements of patient’s immune responses to guide accurate and definitive diagnostic decision. These single cell immune function assessment tools will likely contribute to new understanding of therapy mechanism, pre-treatment stratification of patients, and ongoing therapeutic monitoring and assessment

Function based control for bilateral systems in tele-micromanipulation

Design of a motion control system should take into account (a) unconstrained motion performed without interaction with environment or any other system, and (b) constrained motion with system in contact with environment or other systems. 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. The same design approach can be used to formulate control in bilateral systems aimed to maintain desired functional relations between human and environment through master and slave motion systems. Implementation of the methodology is currently being pursued with a custom built Tele-micromanipulation setup and preliminary results concerning force/position tracking and transparency between master and slave are clearly demonstrated

Çift taraflı kontrol sistemlerinin biomedikal alanda uygulamaları

Hareket kontrol sistemleri tasarlanırken, (a) çevre ile ya da herhangi bir sistem ile etkileşimi olmayan serbest hareket sistemleri, (b) çevre ile veya başka sistemler ile belirli fonksiyonel etkileşimi olan kısıtlı hareket (constrained motion) sistemleri dikkate alınmalıdır. Her iki durumda da kontrol, istenen sistem konfigurasyonu sağlamayı amaçlamaktadır. istenen sistem konfigurasyonu; yörünge takibi, etkileşim kuvvet kontrolü, empedans kontrolü gibi, bilinen sistem görevlerinin yapısını oluşturma açısından aynıdır. Ele alınan tasarım, belirli fonksiyonel ilişkileri korumak zorunda olan bir çok sistemde uyglanmaktadır. Bu çalışma, çift taraflı sistemerin bahsettiğimiz kontrol yöntemi ile kontrolü ve benzetim sonuçlarını sunmaktadır

Bilateralno upravljanje zasnovano na zadacima za primjene u mikrosustavima

Design of a motion control system, convenient for a wide range of applications in industry, space, biology, medicine, particularly including more than one physics environment is very important. Well known control architectures like trajectory tracking, compliance control, interaction force control are scientific milestones which has common control task: to maintain d esired system configuration. In this concept, motion control system can be an unconstrained motion-performed interaction with neither environment nor any other system, or constrained motion-system in contact with environment and/or other systems. This paper provides the function based design approach to formulate control of constrained system particularly bilateral systems in micromanipulation applications. The control objective a imed to maintain desired functional relations between human and environment defining convenient tasks and their proper relations on master and slave motion systems. Preliminary results concerning position tracking, force control and transparency between master and slave systems are clearly demonstrated.Sinteza slijednog sustava prikladnog za široki raspon primjena u industriji, svemiru, biologiji, medicini te posebno za primjene koje obuhvaćaju više raličitih fizikalnih okruženja, vrlo je važna. Dobro poznate strukture upravljanja poput slijeđenja trajektorije, usklađenog upravljanja i upravljanja interakcijskom silom predstavljaju znanstvene prekretnice koje imaju zajednički upravljački cilj: održavanje željene konfiguracije sustava. U ovom konceptu, slijedni sustav može biti sustav bez ograničenja i bez interakcije s okolinom ili ostalim sustavima, odnosno može biti sustav s ograničenjima koji je spregnut s okolinom i/ili drugim sustavima. Ovaj članak opisuje funkcijski zasnovanu sintezu sustava upravljanja za sustav s ograničenjima, a posebno za bilateralne sustave u mikromanipulacijskim primjenama. Cilj upravljanja je održavanje željenih funkcionalnih relacija izmežu čovjeka i okoline definirajući prikladne zadaće i njihove odgovarajuće relacije za glavni i podređeni slijedni sustav. Preliminarni rezultati vezani uz upravljanje pozicijom, upravljanje silom te veza izmeđ u glavnog i podređ enog sustava su jasno prezentirani

Design and development of a multi-functional laparoscopic device

This study presents a design of a multifunctional laparoscopic appendectomy device that includes three surgical instruments commonly used in laparoscopic appendicitis surgeries: endoloop, endobag and scissors. It collects these three independent surgical tools in a single laparoscopic appendectomy device. These days there is a trend of moving to multi-functional surgery devices during minimally invasive surgery. The main reasons behind the minimal invasive surgery are to avoid changing the devices several times during the operation, to reduce the time spent in operation, to increase the efficiency of the operation, to facilitate the follow-up of the camera and devices, and to leave trocars to be used for other surgical instruments. The multi-functional appendectomy device that, we present here, provides these benefits. The standard trocar entries are appropriate for its usage. The presented multifunctional laparoscopic appendectomy device offers more practical use in comparison to individual devices. On the other hand, development of these multi-functional surgery devices can be directly enhanced to the robotic surgery devices