Characterizing Micromanipulation Mechanics And Controlling Micropart Interactions
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Characterizing Micromanipulation Mechanics And Controlling Micropart Interactions
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Author : Yu Zhou
language : en
Publisher:
Release Date : 2001
Characterizing Micromanipulation Mechanics And Controlling Micropart Interactions written by Yu Zhou and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001 with categories.
Dissertation Abstracts International
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Author :
language : en
Publisher:
Release Date : 2001
Dissertation Abstracts International written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001 with Dissertations, Academic categories.
Ico20
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Author : Masayoshi Esashi
language : en
Publisher: SPIE-International Society for Optical Engineering
Release Date : 2006
Ico20 written by Masayoshi Esashi and has been published by SPIE-International Society for Optical Engineering this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006 with Technology & Engineering categories.
Proceedings of SPIE present the original research papers presented at SPIE conferences and other high-quality conferences in the broad-ranging fields of optics and photonics. These books provide prompt access to the latest innovations in research and technology in their respective fields. Proceedings of SPIE are among the most cited references in patent literature.
Micromanipulation Using Self Assembly Strategies
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Author : Barmeshwar Vikramaditya
language : en
Publisher:
Release Date : 2001
Micromanipulation Using Self Assembly Strategies written by Barmeshwar Vikramaditya and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001 with Microelectromechanical systems categories.
American Doctoral Dissertations
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Author :
language : en
Publisher:
Release Date : 2000
American Doctoral Dissertations written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000 with Dissertation abstracts categories.
Precision Assembly In The Digital Age
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Author : Svetan Ratchev
language : en
Publisher: Springer
Release Date : 2018-12-31
Precision Assembly In The Digital Age written by Svetan Ratchev and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-12-31 with Computers categories.
This book constitutes the refereed post-conference proceedings of the 8th IFIP WG 5.5 International Precision Assembly Seminar, IPAS 2018, held in Chamonix, France, in January 2018. The 20 revised full papers were carefully reviewed and selected from numerous submissions. The papers address topics such as machine vision and metrology for assembly operations, gripping and handling technologies, numerical methods and planning in assembly, digital technologies and Industry 4.0 applications, precision assembly methods, assembly systems and platforms and human cooperation, and machine learning. They are organized in the following topical sections: design and deployment of assembly systems; human robot cooperation and machine vision; assembly methods and models; digital technologies and industry 4.0 applications; and gripping and handling solutions in assembly.
Experimental Robotics
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Author :
language : en
Publisher:
Release Date : 1999
Experimental Robotics written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999 with Robotics categories.
Force Controlled Robotic Micromanipulation For Mechanotransduction Studies Of Drosophila Larvae
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Author : Weize Zhang
language : en
Publisher:
Release Date : 2017
Force Controlled Robotic Micromanipulation For Mechanotransduction Studies Of Drosophila Larvae written by Weize Zhang and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
"Robotic micromanipulation is a widely used experimental technique to physically interact with a microscale sample under a microscope, and has found important applications in cell microinjection, mechanical characterization of biomaterials, and assembly of micro-parts. Force sensing and control play important roles in robotic micromanipulation. For instance, monitoring the contact force in cell injection indicates the moment of cell membrane penetration, and controlling the grasping force of a microgripper allows accurate characterization of the mechanical properties of a material being manipulated. Recently, force-controlled robotic micromanipulation has found its new application in studying the neuron-level mechanobiology of Drosophila larvae. Specifically, the capability of accurately applying millinewton-level touch stimuli to a Drosophila larva and simultaneously observing resultant fluorescence signal transmissions in its mechanosensitive neurons will enable novel research on mechanisms of the animal's mechanotransductive neural circuitries. The conventional method is to conduct the experiment manually, which is time consuming and requires extensive training for operators. A robotic micromanipulation system designed for this type of experiments could greatly facilitate the mechanobiology research on Drosophila with much higher accuracy, efficiency, and repeatability.In this thesis, a force-controlled robotic micromanipulation system is developed for simultaneously applying accurate mechanical stimuli and quantifying fluorescence neuron transmission signals in Drosophila larvae. The system employs an elastomeric microdevice for immobilizing individual larvae on a substrate, and a microelectromechanical systems (MEMS) piezoresistive force sensor for applying a closed-loop controlled touch stimulus to a larva. A micromanipulator and a microscope XY stage are coordinately servoed using orchestrated position and force control laws for automatic operations. The system performs force-controlled larva touching and fluorescence imaging at a speed of four larvae per minute, with a success rate of 92.5%. A new force control architecture, including a compensation-prediction scheme and a switched fuzzy to proportional-integral-derivative (fuzzy-PID) controller, is also proposed to effectively improve the dynamics of the force control system. The compensation-prediction scheme is employed to accommodate force measurement noise, system modelling errors, time delays and lack of position feedback from the micromanipulator. The switched fuzzy-PID controller is proposed to ensure the fast convergence and small steady-state oscillation of the system. Compared to conventional PID control scheme, the proposed architecture reduces the force overshoot to
Design Optimization And Experimental Characterization Of A Novel Magnetically Actuated Finger Micromanipulator
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Author : Mohammad Al Mashagbeh
language : en
Publisher:
Release Date : 2018
Design Optimization And Experimental Characterization Of A Novel Magnetically Actuated Finger Micromanipulator written by Mohammad Al Mashagbeh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.
The ability of external magnetic fields to precisely control micromanipulator systems has received a great deal of attention from researchers in recent years due to its off-board power source. As these micromanipulators provide frictionless motion, and precise motion control, they have promising potential applications in many fields. Conversely, major drawbacks of electromagnetic micromanipulators, include a limited motion range compared to the micromanipulator volume, the inability to handle heavy payloads, and the need for a large drive unit compared to the size of the levitated object, and finally, a low ratio of the generated magnetic force to the micromanipulator weight. To overcome these limitations, we designed a novel electromagnetic finger micromanipulator that was adapted from the well-known spherical robot. The design and optimization procedures for building a three Degree of Freedoms (DOF) electromagnetic finger micromanipulator are firstly introduced. This finger micromanipulator has many potential applications, such as cell manipulation, and pick and place operations. The system consists of two main subsystems: a magnetic actuator, and an electromagnetic end-effector that is connected to the magnetic actuator by a needle. The magnetic actuator consists of four permanent magnets and four electromagnetic coils that work together to guide the micromanipulator finger in the xz plane. The electromagnetic end-effector consists of a rod shape permanent magnet that is aligned along the y axis and surrounded by an electromagnetic coil. The optimal configuration that maximizes the micromanipulator actuation force, and a closed form solution for micromanipulator magnetic actuation force are presented. The model is verified by measuring the interaction force between an electromagnet and a permanent magnet experimentally, and using Finite Element Methods (FEM) analysis. The results show an agreement between the model, the experiment, and the FEM results. The error difference between the FEM, experimental, and model data was 0.05 N. The micromanipulator can be remotely operated by transferring magnetic energy from outside, which means there is no mechanical contact between the actuator and the micromanipulator. Moreover, three control algorithms are designed in order to compute control input currents that are able to control the position of the end-effector in the x, y, and z axes. The proposed controllers are: PID controller, state-feedback controller, and adaptive controller. The experimental results show that the micromanipulator is able to track the desired trajectory with a steady-state error less than 10 μm for a payload free condition. Finally, the ability of the micromanipulator to pick-and-place unknown payloads is demonstrated. To achieve this objective, a robust model reference adaptive controller (MRAC) using the MIT rule for an adaptive mechanism to guide the micromanipulator in the workspace is implemented. The performance of the MRAC is compared with a standard PID controller and state-feedback controller. For the payload free condition, the experimental results show the ability of the micromanipulator to follow a desired motion trajectory in all control strategies with a root mean square error less than 0.2 mm. However, while there is payload variation, the PID controller response yields a non smooth motion with a large overshoot and undershoot. Similarly, the state-feedback controller suffers from variability of dynamics and disturbances due to the payload variation, which yields to non-smooth motion and large overshoot. The micromanipulator motion under the MRAC control scheme conversely follows the desired motion trajectory with the same accuracy. It is found that the micromanipulator can handle payloads up to 75 grams and it has a motion range of ∓ 15 mm in all axes.