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Journals / Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi / 2016 / Cilt: 22 - Sayı: 8

Vision based sliding mode control of micro displacement of a conjugated electroactive polymer actuator

Konjuge elektroaktif bir polimer eyleyicinin mikro düzeyde yer değiştirmesinin görüntü tabanlı kayan kipli denetimi

Caner Sancak
Mustafa Yavuz Coşkun
Mehmet İtik
Pages
629–635
Publication Date
2016-12-27
DOI
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

Experimental results show that the conjugated electro-active polymer actuators can be successfully controlled in micrometer resolution and can be used in applications which includes micromanipulation like cell injection.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:In this paper, vision based displacement control of a tri-layer conjugated electro-active polymer actuator has been performed in micrometer resolution.
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Key Findings & Data:Sliding mode control with different reaching laws which is robust to unmodeled uncertainties has been used as the control method.
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Conclusion & Impact:Experimental results show that the conjugated electro-active polymer actuators can be successfully controlled in micrometer resolution and can be used in applications which includes micromanipulation like cell injection.
🔬Design:Modeling & Simulation
📍Scope:Comprehensive Sample
⚙️Variables:Kayan kipli denetim · Konjuge elektroaktif polimer eyleyici · Mikro yer değiştirme kontrolü

Abstract

In this paper, vision based displacement control of a tri-layer conjugated electro-active polymer actuator has been performed in micrometer resolution. Sliding mode control with different reaching laws which is robust to unmodeled uncertainties has been used as the control method. A microscope has been used to observe position of the free end point of the actuator and a vision based system has been employed for feedback signal. Experimental results show that the conjugated electro-active polymer actuators can be successfully controlled in micrometer resolution and can be used in applications which includes micromanipulation like cell injection.

Özet

Bu çalışmada, üç katmanlı konjuge elektro-aktif bir polimer eyleyicinin yer değiştirme denetimi mikrometre seviyesinde görüntü tabanlı olarak yapılmıştır. Denetleme yöntemi olarak modellenmemiş belirsizliklere dayanıklı olan kayan kipli denetim farklı erişim kurallarıyla uygulanmıştır. Eyleyicinin uç noktasının yer değiştirmesini mikrometre seviyesinde gözlemlemek için mikroskop ve geri besleme sinyali oluşturmak amacıyla görüntü işleme sistemi kullanılmıştır. Elde edilen deneysel sonuçlar konjuge elektroaktif polimer eyleyicinin yer değiştirme kontrolünün mikrometre seviyesinde başarı ile yapılabildiğini ve hücre enjeksiyonu gibi mikro hareket ettirme (manipulation) içeren uygulamalarda kendine yer bulabileceğini göstermektedir.

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Cite This Article

Sancak, C., Coşkun, M. Y., İtik, M. (2016). Vision based sliding mode control of micro displacement of a conjugated electroactive polymer actuator. Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi, Cilt: 22 - Sayı: 8, 629–635. https://ajindex.com/articles/42566

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