Simple PD control scheme for robotic manipulation of biological cell
In most manipulation techniques for optical tweezers, open-loop controllers are developed to move the laser source without consideration of the dynamic interaction between the cell and the manipulator of laser source. This paper presents a simple PD control scheme for manipulation of cell using opt...
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sg-ntu-dr.10356-1053422019-12-06T21:49:31Z Simple PD control scheme for robotic manipulation of biological cell Cheah, Chien Chern Li, X. Yan, X. Sun, D. School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics In most manipulation techniques for optical tweezers, open-loop controllers are developed to move the laser source without consideration of the dynamic interaction between the cell and the manipulator of laser source. This paper presents a simple PD control scheme for manipulation of cell using optical tweezers. We formulate a closed-loop setpoint control problem for optical tweezers and show that simple control law is effective for closed-loop manipulation, taking into consideration of the dynamic interaction between the laser beam and the cell. The use of closed-loop feedback control helps to enhance the trapping and also reduces the possibility of photodamage. The setpoint controller is also extended to a region reaching controller, where the desired objective is generalised to a region. Though the overall dynamics that involves the interaction between the cell and the manipulator is a fourth-order system, the proposed controllers do not require the use of acceleration and its derivative or the construction of any observer. Experimental results are presented to illustrate the performance of the proposed controllers. ASTAR (Agency for Sci., Tech. and Research, S’pore) Accepted version 2014-11-06T04:38:07Z 2019-12-06T21:49:31Z 2014-11-06T04:38:07Z 2019-12-06T21:49:31Z 2013 2013 Journal Article Cheah, C. C., Li, X., Yan, X., & Sun, D. Simple PD control scheme for robotic manipulation of biological cell. IEEE transactions on automatic control, 60(5), 1427-1432. https://hdl.handle.net/10356/105342 http://hdl.handle.net/10220/24183 http://dx.doi.org/10.1109/TAC.2014.2357132 en IEEE transactions on automatic control © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [http://dx.doi.org/10.1109/TAC.2014.2357132]. 6 p. application/pdf |
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DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Cheah, Chien Chern Li, X. Yan, X. Sun, D. Simple PD control scheme for robotic manipulation of biological cell |
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In most manipulation techniques for optical tweezers, open-loop controllers are developed to move the laser source without consideration of the dynamic interaction between the cell and the manipulator
of laser source. This paper presents a simple PD control scheme for manipulation of cell using optical tweezers. We formulate a closed-loop setpoint control problem for optical tweezers and show that simple control law is effective for closed-loop manipulation, taking into consideration of the dynamic interaction between the laser beam and the cell. The use of closed-loop feedback control helps to enhance the trapping and also reduces the possibility of photodamage. The setpoint controller is also extended to a region reaching controller, where the desired objective is generalised to a region. Though the overall dynamics that involves the
interaction between the cell and the manipulator is a fourth-order system, the proposed controllers do not require the use of acceleration and its
derivative or the construction of any observer. Experimental results are presented to illustrate the performance of the proposed controllers. |
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School of Electrical and Electronic Engineering |
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School of Electrical and Electronic Engineering Cheah, Chien Chern Li, X. Yan, X. Sun, D. |
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Article |
author |
Cheah, Chien Chern Li, X. Yan, X. Sun, D. |
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Cheah, Chien Chern |
title |
Simple PD control scheme for robotic manipulation of biological cell |
title_short |
Simple PD control scheme for robotic manipulation of biological cell |
title_full |
Simple PD control scheme for robotic manipulation of biological cell |
title_fullStr |
Simple PD control scheme for robotic manipulation of biological cell |
title_full_unstemmed |
Simple PD control scheme for robotic manipulation of biological cell |
title_sort |
simple pd control scheme for robotic manipulation of biological cell |
publishDate |
2014 |
url |
https://hdl.handle.net/10356/105342 http://hdl.handle.net/10220/24183 http://dx.doi.org/10.1109/TAC.2014.2357132 |
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