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

项目概述本职业计划书描述了一个综合的研究和教育计划，该计划将为实现PI的职业目标奠定基础：通过开发新颖的建模和控制方法来提供更小更智能的系统，并培养具有跨学科视角的未来控制工程师。特别是，拟议的研究旨在充分实现离子聚合物-金属复合材料（IPMC）的潜力，非正式地称为人工肌肉，在操纵微妙的，微尺度的物体（例如，单个生物细胞的捕获和运输以及3DMEMS结构的组装），通过开发建模、感测和控制策略来解决IPMC在致动和感测中的时变、非线性行为。该研究将有四个核心推力：1。开发了一个面向控制的模型，该模型捕捉IPMC中的基本动态和非线性，包括从IPMC致动器的弯曲曲率到其电气行为的滞后和非线性反馈耦合.研究了IPMC的两种原始传感方法：一种是利用IPMC内置的非线性补偿传感能力，另一种是利用PI组观察到的曲率-电学行为耦合.针对IPMC执行器的主要非线性发展控制方案，包括滞后动态系统的自适应逆控制方法，以适应IPMC行为的可能变化.设计和制造的仿生微操纵器与IPMC功能perceouslyas结构，致动器，传感器，并通过操纵微珠和生物细胞（在合作与生物医学工程师在密歇根州立大学）和验证的建议建模，传感，控制方法。智力优点：拟议的研究将使快速，精确的控制IPMC致动器在其整个fullactuation范围内，通过识别和适应主要的非线性控制设计。开发的传感方案可以潜在地消除对外部传感器的需要，从而使系统更小。标度律的理论和实验研究将有助于理解微型IPMC致动器和传感器的能力和局限性，并提供深入了解设计的主动dithering计划，以克服粘附，在微操作的关键问题。因此，拟议的项目将促进紧凑，灵巧的IPMC为基础的micromanipulationsystems的发展，同时激励配方和解决方案的新问题的建模和control.Broader影响：拟议的研究将提供一种创新的方法来操纵生物细胞和微器件，促进生物学研究，生物技术和微技术的进步。与Environmental Robots Inc.合作，所开发的控制和感测方案将应用于许多基于IPMC的生物医学应用（例如，用于药物递送的可植入微型泵），对医疗保健具有潜在影响。与研究计划相结合，PI将建立智能材料和系统的跨学科课程，包括涉及工业合作伙伴的高级设计计划（PI已获得SPIE的种子资金）和微纳米系统中的智能传感器和执行器研究生课程。作为密歇根州立大学多样性项目办公室主办的本科生研究项目的教师顾问，PI将让女性和少数民族学生参与开发包含智能传感器和执行器的仿生微型机器人，并进一步使用这些微型机器人作为吸引人的动手教育工具包，以激发K-12学生对科学和工程的兴趣。

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.