Please use this identifier to cite or link to this item: http://localhost/handle/Hannan/206485
Title: Switched Fuzzy-PD Control of Contact Forces in Robotic Microbiomanipulation
Authors: Weize Zhang;Xianke Dong;Xinyu Liu
Year: 2017
Publisher: IEEE
Abstract: Force sensing and control are of paramount importance in robotic micromanipulation. A contact force regulator capable of accurately applying mechanical stimuli to a live Drosophila larva could greatly facilitate mechanobiology research on Drosophila and may eventually lead to novel discoveries in mechanotransduction mechanisms of neuronal circuitries. In this paper, we present a novel contact force control scheme implemented in an automated Drosophila larvae micromanipulation system, featuring a switched fuzzy to proportional-differential (PD) controller and a noise-insensitive extended high gain observer (EHGO). The switched fuzzy-PD control law inherits the fast convergence of fuzzy control and overcomes its drawbacks such as large overshoot and steady-state oscillation. The noise-insensitive EHGO can reliably estimate system modeling errors and is robust to force measurement noises, which is advantageous over conventional high gain observers (sensitive to signal noises). Force control experiments show that, compared to a proportional-integral-differential (PID) controller, this new force control scheme significantly enhances the system dynamic performance in terms of rising time, overshoot, and oscillation. The developed robotic system and the force control scheme will be applied to mechanical stimulation and fluorescence imaging of Drosophila larvae for identifying new mechanotransduction mechanisms.
URI: http://localhost/handle/Hannan/206485
volume: 64
issue: 5
More Information: 1169,
1177
Appears in Collections:2017

Files in This Item:
File SizeFormat 
7522638.pdf509.9 kBAdobe PDF
Title: Switched Fuzzy-PD Control of Contact Forces in Robotic Microbiomanipulation
Authors: Weize Zhang;Xianke Dong;Xinyu Liu
Year: 2017
Publisher: IEEE
Abstract: Force sensing and control are of paramount importance in robotic micromanipulation. A contact force regulator capable of accurately applying mechanical stimuli to a live Drosophila larva could greatly facilitate mechanobiology research on Drosophila and may eventually lead to novel discoveries in mechanotransduction mechanisms of neuronal circuitries. In this paper, we present a novel contact force control scheme implemented in an automated Drosophila larvae micromanipulation system, featuring a switched fuzzy to proportional-differential (PD) controller and a noise-insensitive extended high gain observer (EHGO). The switched fuzzy-PD control law inherits the fast convergence of fuzzy control and overcomes its drawbacks such as large overshoot and steady-state oscillation. The noise-insensitive EHGO can reliably estimate system modeling errors and is robust to force measurement noises, which is advantageous over conventional high gain observers (sensitive to signal noises). Force control experiments show that, compared to a proportional-integral-differential (PID) controller, this new force control scheme significantly enhances the system dynamic performance in terms of rising time, overshoot, and oscillation. The developed robotic system and the force control scheme will be applied to mechanical stimulation and fluorescence imaging of Drosophila larvae for identifying new mechanotransduction mechanisms.
URI: http://localhost/handle/Hannan/206485
volume: 64
issue: 5
More Information: 1169,
1177
Appears in Collections:2017

Files in This Item:
File SizeFormat 
7522638.pdf509.9 kBAdobe PDF
Title: Switched Fuzzy-PD Control of Contact Forces in Robotic Microbiomanipulation
Authors: Weize Zhang;Xianke Dong;Xinyu Liu
Year: 2017
Publisher: IEEE
Abstract: Force sensing and control are of paramount importance in robotic micromanipulation. A contact force regulator capable of accurately applying mechanical stimuli to a live Drosophila larva could greatly facilitate mechanobiology research on Drosophila and may eventually lead to novel discoveries in mechanotransduction mechanisms of neuronal circuitries. In this paper, we present a novel contact force control scheme implemented in an automated Drosophila larvae micromanipulation system, featuring a switched fuzzy to proportional-differential (PD) controller and a noise-insensitive extended high gain observer (EHGO). The switched fuzzy-PD control law inherits the fast convergence of fuzzy control and overcomes its drawbacks such as large overshoot and steady-state oscillation. The noise-insensitive EHGO can reliably estimate system modeling errors and is robust to force measurement noises, which is advantageous over conventional high gain observers (sensitive to signal noises). Force control experiments show that, compared to a proportional-integral-differential (PID) controller, this new force control scheme significantly enhances the system dynamic performance in terms of rising time, overshoot, and oscillation. The developed robotic system and the force control scheme will be applied to mechanical stimulation and fluorescence imaging of Drosophila larvae for identifying new mechanotransduction mechanisms.
URI: http://localhost/handle/Hannan/206485
volume: 64
issue: 5
More Information: 1169,
1177
Appears in Collections:2017

Files in This Item:
File SizeFormat 
7522638.pdf509.9 kBAdobe PDF