System and method for voltage-based real-time micro-object position control with the aid of a digital computer
The system and method described allow for real-time control over positioning of a micro-object. A movement of at least one micro-object suspended in a medium can be induced by a generation of one or more forces by electrodes proximate to the micro-object. Prior to inducing the movement, a simulation is used to develop a model describing a parameter of an interaction between each of the electrodes and the micro-object. A function describing the forces generated by an electrode and an extent of the movement induced due to the forces is generated using the model. The function is used to design closed loop policy control scheme for moving the micro-object towards a desired position. The position of the micro-object is tracked and taken into account when generating voltage patterns in the scheme.
1. A system for multi-electrode-based real-time micro-object position control with an aid of a digital computer, comprising:
a sensor configured to determine a position of at least one micro-object at a plurality of time points;
at least one processor configured to execute computer-executable code and further configured to:
obtain one or more parameters of a system for positioning the at least one micro-object, the system comprising four electrodes, the electrodes configured to induce movements of the at least one micro-object when the at least one micro-object is suspended in a fluid proximate to the electrodes upon a generation of one or more forces by one or more of the electrodes, wherein the parameters comprise spacing between the electrodes;
model a parameter of an interaction between each of the electrodes and the at least one micro-object;
obtain a desired position of at least one micro-object;
implement via a plurality of voltage patterns a control scheme for moving the at least one micro-object until the position of the at least one micro-object matches the desired position, implementing each of the voltage patterns comprising:
determine a voltage to be generated by one of the electrodes based on the parameter model, the position at a most recent one of the time points, and the desired positon;
determine a voltage to be generated by each of the remaining three electrodes using the voltage for the one electrode and the spacing between the electrodes in accordance with the equation:
v 2 ( x )=− v 1 ( x +δ), v 3 ( x )= v 1 ( x+ 2δ), v 4 ( x )=− v 1 ( x −δ),
wherein v 1 (x) is the voltage to be generated by the one electrode, v 2 (x), v 3 (x), and v 4 (x) are voltages to be generated by the remaining electrodes, and δ represents the spacing between the electrodes; and
command the electrodes to generate the determined voltages, wherein the position of the electrodes is determined after each of the voltage generations.
2. A system according to claim 1 , wherein the electrodes are spiral electrodes and are arranged into an electrode unit.
3. A system according to claim 2 , wherein a sequence of the electrodes repeats periodically starting from outside and moving towards a center of the unit.
4. A system according to claim 3 , wherein the electrodes are independently driven.
5. A method for multi-electrode-based real-time micro-object position control with an aid of a digital computer, comprising steps of:
using a sensor to determine a position of at least one micro-object at a plurality of time points;
obtaining one or more parameters of a system for positioning the at least one micro-object, the system comprising four electrodes, the electrodes configured to induce movements of the at least one micro-object when the at least one micro-object is suspended in a fluid proximate to the electrodes upon a generation of one or more forces by one or more of the electrodes;
modeling a parameter of an interaction between each of the electrodes and the at least one micro-object;
obtaining a desired position of at least one micro-object;
implementing via a plurality of voltage patterns a control scheme for moving the at least one micro-object until the position of the at least one micro-object matches the desired position, implementing each of the voltage patterns comprising:
determining a voltage to be generated by one of the electrodes based on the parameter model, the position at a most recent one of the time points, and the desired positon;
determining a voltage to be generated by each of the remaining three electrodes using the voltage for the one electrode and one or more of at least one translation operation and at least one sign change in accordance with the equation:
v 2 ( x )=− v 1 ( x +δ), v 3 ( x )= v 1 ( x+ 2δ), v 4 ( x )=− v 1 ( x −δ),
wherein v 1 (x) is the voltage to be generated by the one electrode, v 2 (x), v 3 (x), and v 4 (x) are voltages to be generated by the remaining electrodes, and δ represents spacing between the electrodes; and
commanding the electrodes to generate the determined voltages, wherein the position of the electrodes is determined after each of the voltage generations.
6. A method according to claim 5 , wherein the spacing comprises distance between centers of the electrodes.
7. A method according to claim 5 , wherein the electrodes are spiral electrodes and are arranged into an electrode unit.
8. A method according to claim 7 , wherein a sequence of the electrodes repeats periodically starting from outside and moving towards a center of the unit.
9. A method according to claim 8 , wherein the electrodes are independently driven.
10. A system for voltage-based real-time micro-object position control with an aid of a digital computer, comprising:
a sensor configured to determine a position of at least one micro-object at a plurality of time points;
at least one processor configured to execute computer-executable code and further configured to:
obtain one or more parameters of a system for positioning the at least one micro-object, the system comprising four electrodes, the electrodes configured to induce movements of the at least one micro-object when the at least one micro-object is suspended in a fluid proximate to the electrodes upon a generation of one or more forces by one or more of the electrodes;
model a parameter of an interaction between each of the electrodes and the at least one micro-object;
obtain a desired position of at least one micro-object;
implement via a plurality of voltage patterns a control scheme for moving the at least one micro-object until the position of the at least one micro-object matches the desired position, implementing each of the voltage patterns comprising:
determine a voltage to be generated by one of the electrodes based on the parameter model, the position at a most recent one of the time points, and the desired positon;
determine a voltage to be generated by each of the remaining three electrodes using the voltage for the one electrode in accordance with the equation:
v 2 ( x )=− v 1 ( x +δ), v 3 ( x )= v 1 ( x+ 2δ), v 4 ( x )=− v 1 ( x −δ),
wherein v 1 (x) is the voltage to be generated by the one electrode, v 2 (x), v 3 (x), and v 4 (x) are voltages to be generated by the remaining electrodes, and δ represents spacing between the electrodes that comprises a distance between centers of the electrodes; and
command the electrodes to generate the determined voltages, wherein the position of the electrodes is determined after each of the voltage generations.
11. A system according to claim 10 , wherein the electrodes are spiral electrodes and are arranged into an electrode unit.
12. A system according to claim 10 , wherein a sequence of the electrodes repeats periodically starting from outside and moving towards a center of the unit and wherein the electrodes are independently driven.