Adaptive gain scheduling for rotationally oscillating drill, with low-resolution feedback
by Zhenyu Zhang; Jhon F. Diaz; Nejat Olgac
International Journal of Mechatronics and Manufacturing Systems (IJMMS), Vol. 6, No. 5/6, 2013

Abstract: A challenging control strategy is studied on a novel cellular microinjection technology called the rotationally oscillating drill (Ros-Drill). Ros-Drill is developed primarily for intra-cytoplasmic sperm injection (ICSI). It is an inexpensive device, which creates high-frequency rotational oscillations at the tip of an injection pipette tracking a harmonic motion profile. These rotational oscillations enable the pipette to drill into cell membranes with minimum biological damage. Such a motion control procedure presents no particular difficulty when it uses high-resolution motion sensors. However, coarse spatial resolution in these sensors is enforced due to various limitations (especially from the pricing aspects). They severely constrain the performance and trajectory tracking capabilities are adversely affected. In this paper, we present a new adaptive control scheme to overcome these hurdles. The control is implemented using a commonly available and very economical microcontroller and extremely low-resolution position measurements. First, a continuous control system is used for the core proportional-integral-derivative (PID) controller logic. Then, an adaptive, robust and optimal updates over this core logic are developed. We demonstrate via simulations and experiments that the tracking of the harmonic rotational motion is achieved with desirable fidelity.

Online publication date: Sat, 12-Jul-2014

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