Konjuge elektroaktif bir polimer eyleyicinin mikro düzeyde yer değiştirmesinin görüntü tabanlı kayan kipli denetimi

Yıl 2016, Cilt: 22 Sayı: 8, 629 - 635, 27.12.2016

Caner Sancak Mustafa Yavuz Coşkun Mehmet İtik

Öz

Bu
çalışmada, üç katmanlı konjuge elektro-aktif bir polimer eyleyicinin yer
değiştirme denetimi mikrometre seviyesinde görüntü tabanlı olarak yapılmıştır.
Denetleme yöntemi olarak modellenmemiş belirsizliklere dayanıklı olan kayan
kipli denetim farklı erişim kurallarıyla uygulanmıştır. Eyleyicinin uç
noktasının yer değiştirmesini mikrometre seviyesinde gözlemlemek için mikroskop
ve geri besleme sinyali oluşturmak amacıyla görüntü işleme sistemi
kullanılmıştır. Elde edilen deneysel sonuçlar konjuge elektroaktif polimer
eyleyicinin yer değiştirme kontrolünün mikrometre seviyesinde başarı ile
yapılabildiğini ve hücre enjeksiyonu gibi mikro hareket ettirme (manipulation)
içeren uygulamalarda kendine yer bulabileceğini göstermektedir.

Anahtar Kelimeler

Kayan kipli denetim, Konjuge elektroaktif polimer eyleyici, Mikro yer değiştirme kontrolü, Görüntü tabanlı kontrol

Vision based sliding mode control of micro displacement of a conjugated electroactive polymer actuator

Öz

In
this paper, vision based displacement control of a tri-layer conjugated
electro-active polymer actuator has been performed in micrometer resolution.
Sliding mode control with different reaching laws which is robust to unmodeled
uncertainties has been used as the control method. A microscope has been used
to observe position of the free end point of the actuator and a vision based
system has been employed for feedback signal. Experimental results show that
the conjugated electro-active polymer actuators can be successfully controlled
in micrometer resolution and can be used in applications which includes
micromanipulation like cell injection.

Anahtar Kelimeler

Sliding mode controller, Conjugated electroactive polymer actuator, Micro displacement control, Vision based control

Kaynakça

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