Commercial micro/nano-manipulators, which utilize piezoelectric stick-slip actuators to achieve high precision over a large workspace, are currently controlled by a human operator at the joint level, leading to unintuitive and timeconsuming teleoperation. Prior work has considered the use of computer-vision-feedback to close a control loop for improved performance, but computer-vision-feedback is not a viable option for many end users. In this paper, we discuss how open-loop models of the micro/nano-manipulator can be used to achieve desired end-effector movements, and we explain the process of obtaining open-loop models. We propose a rate-control teleoperation method that utilizes the obtained model, and we experimentally quantify the effectiveness of the method using a common commercial manipulator (the Kleindiek MM3A).

Eichhornia spp. biomass collected from Chandola lake, Ahmedabad, Gujarat, India. Point of zero charge of the biomass was pH 7.3. Flask study showed pH 5 and 2 to 3 h contact time as optimum conditions for copper sorption. In 24 h of contact time, as high as 85% of copper was removed from 100 ppm copper containing solution. In first 2 h of the contact time the removal reached to 67.25%. Copper loading capacity of the biomass ranged between 2.85 to 1.0 g per 100 g of biomass. Influence of pH, temperature, nickel and zinc was studied by 24 factorial experiments. Under the experimental conditions pH and interactions between pH-nickel, temperature-pH and temperature-pH-nickel-zinc were found to be significant with 60 to 74.7% copper removal. As high as 95% of sorbed copper was desorbed with 0.1 N HNO3. Langmuir and Freundlich isotherms were also studied. Reactor study showed 90% overall copper removal from 25 L of copper containing waste and sulfatereducing bacteria played a significant role. Treatment of actual waste also showed 61% of copper removal. SEMquant element analysis showed presence of 12.39% w/w of copper in the biomass exposed to the waste, where as only 0.0018% of copper was detected in unexposed biomas