Adaptive Hybrid Control for Low Resolution Feedback Systems with Application on a Novel Microinjector: Ros-drill

摘要

A novel hybrid control logic is deployed on a novel cellular microinjector called the Ros-Drill (Rotationally Oscillating Drill). Ros-Drill technology is primarily developed for ICSI (Intra Cytoplasmic Sperm Injection). The new structure offers an inexpensive tool which performs precise micro motion control on an actuator (DC motor), creating high-frequency rotational oscillations at the tip of an injecting pipette, which, in turn, drills the cells. Angular motion control presents no particular difficulties when the application uses high fidelity measurements of the motion being controlled. However, size, costs and accessibility of the needed technology relevant to the hardware components negatively influence the design of the control settings. In this presentation we describe an adaptive-hybrid control structure which is developed around a commonly available microcontroller core. We consider three limiting factors: bounded sampling speed of the controller, and extremely low relative resolution of position measuring sensor, as well as the limited capabilities of generating the desired rotational trajectory. We present a novel methodology to overcome these specific problems utilizing an adaptive, robust and optimal PID (proportional-integral and derivative) control strategy. It is demonstrated that the required fine rotational motion for the cellular injections is obtained with desirable fidelity, despite the stated shortfalls in the components. Field experiments and preliminary biological test results will also be included in the discussions.