CAREER: Dexterous Biomimetic Micromanipulation Using Artificial Muscles: Modeling, Sensing, and Control

点击翻译按钮获取中文摘要

PROJECT SUMMARYThis CAREER proposal describes an integrated research and education program that will build afoundation for achieving the PIs career goals: to deliver smaller and smarter systems by developingnovel modeling and control methodologies, and to train tomorrows control engineers with crossdisciplinaryperspectives. In particular, the proposed research aims to fully realize the potential ofIonic Polymer-Metal Composites (IPMCs), informally known as artificial muscles, in manipulation ofdelicate, microscale objects (e.g., capture and transport of single biological cells and assembly of 3DMEMS structures), by developing modeling, sensing, and control strategies to address time-varying,nonlinear behaviors of IPMCs in actuation and sensing. The research will have four core thrusts:1. Development of a control-oriented model capturing essential dynamics and nonlinearities inIPMCs, including both hysteresis and nonlinear feedback coupling from the bending curvatureof an IPMC actuator to its electrical behavior.2. Investigation of two original sensing approaches for IPMCs: one exploiting IPMCs built-insensory capability using nonlinear compensation, the other utilizing the curvature-to-electricalbehavior coupling observed by the PIs group.3. Development of control schemes targeting the major nonlinearities in IPMC actuators, includingadaptive inverse control methods for hysteretic, dynamical systems to accommodate possiblevariation of IPMC behaviors.4. Design and fabrication of a biomimetic micromanipulator with IPMCs functioning simultaneouslyas structures, actuators, and sensors, and validation of the proposed modeling, sensing,control methods through manipulation of microbeads and biological cells (in collaboration witha biomedical engineer at Michigan State).Intellectual Merit:The proposed research will enable fast, precision control of IPMC actuators throughout their fullactuation ranges by identifying and accommodating major nonlinearities in the control design. Thedeveloped sensing schemes can potentially eliminate the need for external sensors, resulting in smallersystems. Theoretical and experimental investigation of scaling laws will help understand the capabilitiesand limitations of micro IPMC actuators and sensors, and offer insight into design of activedithering schemes to overcome adhesion, a critical problem in micromanipulation. The proposedproject will thus promote the development of compact, dexterous IPMC-based micromanipulationsystems while motivating formulations and solutions of new problems in modeling and control.Broader Impacts:The proposed research will provide an innovative approach to manipulation of biological cells and microdevices, facilitating advances in biological studies, biotechnology, and microtechnology. Throughcollaboration with Environmental Robots Inc., the developed control and sensing schemes will beapplied to a number of IPMC-based biomedical applications (e.g., implantable micropumps for drugdelivery), with potential impacts on health care. Integrating with the research program, the PI willestablish an interdisciplinary curriculum on Smart Materials and Systems including a senior designprogram involving industrial partners (the PI has secured seed funding from SPIE) and a graduatecourse Smart Sensors and Actuators in Micro and Nanosystems. As a faculty advisor to the undergraduateresearch program hosted by the Diversity Programs Office at Michigan State, the PIwill involve women and minority students in developing biomimetic microrobots incorporating smartsensors and actuators, and further use these microrobots as appealing, hands-on educational kits toinspire the interest of K-12 students in science and engineering.