No abstract

A trajectory-tracking problem is considered for a linear time invariant (LTI) dynamics with a fixed control law. However, the feedback line is affected by multiple time delays. The stability of the dynamics becomes a complex problem. It is well known that time-delayed LTI systems may exhibit multiple stable operating zones (which we call pockets) in the space of the delays. Our aim in this paper is to locate and experimentally validate these pockets. For the analytical determination of the pockets we utilize a new methodology, the cluster treatment of characteristic roots (CTCR). The study results in several interesting conclusions. (i) The systems may exhibit better control performance (for instance, faster disturbance rejection) for larger time delays. (ii) Consequently, we propose a unique and interesting utilization of the time delays as agents to enhance the control performance, the delay scheduling technique.

ICSI (intracytoplasmic sperm injection) procedure is one of the most commonly used cellular-injection processes. In ICSI a drawn glass pipette is pushed against the biological cell and a series of force impulses are exerted on it axially to achieve the piercing through the zona and the membrane in sequence for the ensuing injection. In most advanced applications a piezo actuator creates this impulsive forcing. This procedure presently requires a very small mercury column inside the glass pipette which is found to be helpful especially for minimizing the transverse oscillations. Despite the toxic mercury, the procedure is commonly utilized in many laboratories. Earlier investigations point out that considerable lateral tip oscillations of the injection pipette remain as the piezo-electric pulses are introduced. Such oscillations damage the cell membrane and impart adverse effects on the success rate of the injection. In this study, we introduce a novel microinjection procedure, which will remedy the shortfalls of the present technology. The highlight of this procedure is the introduction of rotational oscillations to the pipette during the drilling. These oscillations of small amplitudes (few degrees) and high enough frequencies (100 Hz and higher) are shown to create very effective piercing. The so-called Ros-Drill is a mercury-free and minimally invasive device of which the prototypes are designed and built including the relevant peripheral control hardware and software. Preliminary experimental results are presented on mouse oocytes and they are very encouraging. In the early trials on mouse oocytes, several blastocyst stage developments are reported using new drilling device. We also explain in this text the implementation protocols developed for the new technology.

Intracytoplasmic sperm injection (ICSI) is an important assisted reproductive technology (ART). Due to deployment difficulties and low efficiency of the earlier (conventional) version of ICSI, especially in the mouse, a piezo-assisted ICSI technique had evolved as a popular ART methodology in recent years. An important and remaining problem with this technique, however, is that it requires small amounts of mercury to stabilize the pipette tip when piezoelectric force pulses are applied. To eliminate this problem we developed and tested a completely different and mercury-free technology, called the “Ros-Drill©” (rotationally oscillating drill). The technique uses microprocessor-controlled rotational oscillations on a spiked micropipette without mercury or piezo. Preliminary experimental results show that this new microinjection technology gives high survival rate (>70% of the injected oocytes) and fertilization rate (>80% of the survived oocytes), and blastocyst formation rates in early trials (~50% of the survived oocytes). Blastocysts created by Ros-Drill© ICSI were transferred into the uteruses of pseudopregnant surrogate mothers and healthy pups were born and weaned. The Ros-Drill© ICSI technique is automated and therefore; it requires a very short preliminary training for the specialists, as evidenced in many successful biological trials. These advantages of Ros-Drill© ICSI over conventional and piezo-assisted ICSI are clearly demonstrated and it appears to have resolved an important problem in reproductive biology.

No abstract