Brownian Motion using a Piezo Actuated Microscope Stage

Piezo Actuated Flexural Stage for Sub-micron Precision Measurement

Integral Sliding-mode Control of a Piezoelectric- Actuated Motion Stage

This paper presents the design of an integral sliding-mode controller for a piezoelectric-actuated system. The sliding-mode disturbance (uncertainty) estimation and compensation scheme is used. The nonlinear piezoelectric-actuated system is modeled as a first order linear model coupled with a hysteresis. When the model is identified, the hysteresis nonlinearity is linearized then the linear sys...

Piezo-actuated Mouse ICSI (Intracytoplasmic sperm injection)

Intracytoplasmic sperm injection (ICSI) is not only used in human assisted reproduction (ART), but it is also widely employed for veterinary in vitro fertilization during rare species preservation, germ-line rescue of transgenic animals or for any veterinary assisted conception. Piezo-assisted ICSI, which was first described in 1995 [1], can be employed for assisted conception in animals in whi...

Precision Control of a Piezo-Actuated Micro Telemanipulation System

Piezoelectric actuators are widely used in micro manipulation applications. However hysteresis nonlinearity limits accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. T...

Development of a Piezo-actuated Robot for Cell Injection

In the presented work model and experiments of compliant robots with piezo actuators are carried out. The robot is designed to perform automatic injection of cells in the range of 10-30 μm. A kinematics model of serial-parallel structures is presented. Pseudo rigid body approach is used, where the elastic joints are modelled as revolute joints. Models for tension of parallel structures with ela...