Different micromanipulation applications based on common modular control architecture

Risto Sipola; Tero Vallius; Marko Pudas; Juha Röning

doi:10.1117/12.838433

18 January 2010 Different micromanipulation applications based on common modular control architecture

Risto Sipola, Tero Vallius, Marko Pudas, Juha Röning

Proceedings Volume 7539, Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques; 753905 (2010) https://doi.org/10.1117/12.838433
Event: IS&T/SPIE Electronic Imaging, 2010, San Jose, California, United States

Abstract

This paper validates a previously introduced scalable modular control architecture and shows how it can be used to implement research equipment. The validation is conducted by presenting different kinds of micromanipulation applications that use the architecture. Conditions of the micro-world are very different from those of the macro-world. Adhesive forces are significant compared to gravitational forces when micro-scale objects are manipulated. Manipulation is mainly conducted by automatic control relying on haptic feedback provided by force sensors. The validated architecture is a hierarchical layered hybrid architecture, including a reactive layer and a planner layer. The implementation of the architecture is modular, and the architecture has a lot in common with open architectures. Further, the architecture is extensible, scalable, portable and it enables reuse of modules. These are the qualities that we validate in this paper. To demonstrate the claimed features, we present different applications that require special control in micrometer, millimeter and centimeter scales. These applications include a device that measures cell adhesion, a device that examines properties of thin films, a device that measures adhesion of micro fibers and a device that examines properties of submerged gel produced by bacteria. Finally, we analyze how the architecture is used in these applications.

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Risto Sipola, Tero Vallius, Marko Pudas, and Juha Röning "Different micromanipulation applications based on common modular control architecture", Proc. SPIE 7539, Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques, 753905 (18 January 2010); https://doi.org/10.1117/12.838433

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KEYWORDS

Actuators

Sensors

Control systems

Data storage

Robots

Computer architecture

Measurement devices

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