An energy-based state observer for dynamical subsystems with inaccessible state variables

Khalil, Islam S. M.; Şabanoviç, Asif; Misra, Sarthak

doi:10.1109/iros.2012.6386188

Cited by 3 publications

(2 citation statements)

References 20 publications

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“…The drag force and the force due to time-varying flow rate exerted on the microparticle can be estimated using its velocity and the current inputs to the electromagnetic coils [22, 29, 30, 31, 32]. The estimated disturbance force (normalbolddtrue^false(trueṖfalse)false) is given by…”

Section: Motion Control Inside Fluidic Channel With Time-varying Fmentioning

confidence: 99%

Robust and Optimal Control of Magnetic Microparticles inside Fluidic Channels with Time-Varying Flow Rates

Khalil

Abass

Shoukry

et al. 2016

International Journal of Advanced Robotic Systems

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Targeted therapy using magnetic microparticles and nanoparticles has the potential to mitigate the negative side-effects associated with conventional medical treatment. Major technological challenges still need to be addressed in order to translate these particles into in vivo applications. For example, magnetic particles need to be navigated controllably in vessels against flowing streams of body fluid. This paper describes the motion control of paramagnetic microparticles in the flowing streams of fluidic channels with time-varying flow rates (maximum flow is 35 ml.hr−1). This control is designed using a magnetic-based proportional-derivative (PD) control system to compensate for the time-varying flow inside the channels (with width and depth of 2 mm and 1.5 mm, respectively). First, we achieve point-to-point motion control against and along flow rates of 4 ml.hr−1, 6 ml.hr−1, 17 ml.hr−1, and 35 ml.hr−1. The average speeds of single microparticle (with average diameter of 100 μm) against flow rates of 6 ml.hr−1 and 30 ml.hr−1 are calculated to be 45 μm.s−1 and 15 μm.s−1, respectively. Second, we implement PD control with disturbance estimation and compensation. This control decreases the steady-state error by 50%, 70%, 73%, and 78% at flow rates of 4 ml.hr−1, 6 ml.hr−1, 17 ml.hr−1, and 35 ml.hr−1, respectively. Finally, we consider the problem of finding the optimal path (minimal kinetic energy) between two points using calculus of variation, against the mentioned flow rates. Not only do we find that an optimal path between two collinear points with the direction of maximum flow (middle of the fluidic channel) decreases the rise time of the microparticles, but we also decrease the input current that is supplied to the electromagnetic coils by minimizing the kinetic energy of the microparticles, compared to a PD control with disturbance compensation.

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Section: Motion Control Inside Fluidic Channel With Time-varying Fmentioning

confidence: 99%

Robust and Optimal Control of Magnetic Microparticles inside Fluidic Channels with Time-Varying Flow Rates

Khalil

Abass

Shoukry

et al. 2016

International Journal of Advanced Robotic Systems

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“…We present a theoretical analysis and experimental tele-manipulation of trapped paramagnetic micro-particles inside gas bubbles. First, we analyze the interaction forces of a trapped micro-particle in a gas bubble at the water-gas interface, and we estimate the interaction forces between the micro-particles and the bubble using a calibrated force observer (we expand on the work of [18], [19], [20] which has not verified the accuracy of the estimated forces). This calibration is done using a microforce sensing probe that is incorporated to measure the interaction forces on the micro-particle.…”

Section: Introductionmentioning

confidence: 99%

Feeling paramagnetic micro-particles trapped inside gas bubbles: A tele-manipulation study

Khalil

Michel

et al. 2016

2016 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3m-Nano)

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Surface tension forces, pressure forces, and drag forces arise once a micro-particle comes into contact with a gas bubble or a biological cell in diverse physical and biomedical applications such as targeted therapy, sorting, and characterization of cancer cells. We experimentally demonstrate that these forces can be estimated, scaled-up to the sensory range of a human operator, and sensed during a transparent bilateral tele-manipulation using an electromagnetic system and a haptic device. We find good agreement between the estimated interaction forces and the measured forces using a calibrated microforce sensing probe. The maximum interaction force between a trapped paramagnetic micro-particle and an oxygen bubble is estimated to be 4 μN. The estimated interaction force is scaled-up and used in the design of a tele-manipulation system (haptic device and an electromagnetic system) that enables motion control of the bubble in a two-dimensional space, while sensing the interaction forces with the bubble. We demonstrate experimentally that the operator senses maximum interaction force (surface tension, pressure, and drag forces) with the same order of magnitude as the calculated theoretical forces. The estimation of interaction forces at this scale provides broad possibilities in targeted therapy and characterization of cancer cells.

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Full-Order Observer Design for a Class of Nonlinear Port-Hamiltonian Systems

et al. 2021

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An energy-based state observer for dynamical subsystems with inaccessible state variables

Cited by 3 publications

References 20 publications

Robust and Optimal Control of Magnetic Microparticles inside Fluidic Channels with Time-Varying Flow Rates

Robust and Optimal Control of Magnetic Microparticles inside Fluidic Channels with Time-Varying Flow Rates

Feeling paramagnetic micro-particles trapped inside gas bubbles: A tele-manipulation study

Full-Order Observer Design for a Class of Nonlinear Port-Hamiltonian Systems

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