微操作系统中定位控制、人机交互和微量注射问题研究
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摘要
微操作是指对特征尺寸在微米和亚微米量级物体进行的操作和处理，用于执行微操作的仪器一般称为微操作系统或微操作机器人，其功能包括微夹持、微操纵、微加工、微装配等。它是操作微小物体的必备工具，广泛用于细胞级生物医学操作和MEMS器件装配领域。对微操作设备与技术的研究是近年来MEMS和机器人领域的研究热点。
本文围绕微操作的自动化和智能化主题，对微操作系统的组成和结构进行了规划，构建了一套计算机控制的微操作系统，包括显微视觉分系统、机械定位分系统、微注射仪和微夹持器。在此基础上，对三维微定位控制技术、基于显微立体图像显示的人机交互操纵环境和微量注射等三个内容进行了重点研究：
为了解决3D微定位问题，推导了显微视觉分系统采用的CMO型和G型体视显微镜光学成像模型，在此基础上建立了基于图像的3D显微视觉伺服定位控制模型，对视觉伺服中涉及的实时跟踪与立体匹配技术进行了研究，并进一步探讨了卷包裹法和曲线跟踪两种避障算法。通过实验证明：采用本文建立的基于图像的视觉伺服模型，能实现精确微定位，点-点微定位误差不超过3μm；采用卷包裹法和基于深度搜索的曲线跟踪避障能自动计算避障路径，定位误差在20-40μm。
阐述了人机交互和立体视觉的生理学和心理学基础；建立了人机交互实时操纵微操作的控制模型，分析了人机交互控制微操作的稳态误差、灵敏度和阶跃响应等特性；首次提出了用于双目立体图像时分显示的双缓冲软倍频技术，利用此方法解决了时分立体实时显示中的闪烁问题，实现了彩色显微立体图像的观测；设计并实现了交互操纵单元，对微操作过程进行操纵。在本文开发的非沉浸式微操作交互环境下，佩戴液晶眼镜的操作人员，能从计算机屏幕上观察立体三维微操作过程；通过控制操纵杆装置，可以操纵微执行器运动和动作，将操作者从显微镜目镜前解放出来，提高微操作的效率和成功率。
建立了离散化形式的变锥度微管道内压力流流量计算理论，研究了尺度效应对微流体传输的影响，通过实验研究了微锥形管道内气压驱动连续流的流动特性，给出了尖端直径在4-15μm范围内的微锥形管道内连续流压力与流量的实验关系。实验结果表明：采用变锥度角公式计算流量比等锥度角公式计算流量更接近于实验流量。根据转基因微量注射的要求，开发了气压驱动的自动微量注射仪样机。采用微量注射仪，对微锥形管道内注射量与注射时间和注射压的关系进行了实验测试。
cromanipulation is the manipulation and treatment of objects with characteristic feature size of um and sub-urn. The instrument, which is necessary for manipulation, is usually called micromanipulation system or manipulation robot. It functions in micrograpping, micromanipulation, microprocessing, microassembling, etc. It is the essential instrument in manipulating micro objects and has been widely used in biology and assembly of MEMS parts. In recent years the study of micromanipulation instrument and technology has become a heated topic in the area of MEMS and robot research.
In order to improve the level of automatization and intelligentization in micro manipulation, the compose and structure of micromanipulation system are provided and a set of micromanipulation system is constructed, which includes microvision subsystem, micropositioning subsystem, microinjector and micrograpper. 3D control of micropositioning, the environment for human-computer interaction based on the micro stereo image displaying, and microinjection are three focuses of this dissertation.
The imaging models of CMO micro stereoscope and G micro stereoscope used in microvision subsystem are deduced. According to the imaging models, 3D visual servoing model based on image for micropositioning is set up. The technology of tracking and matching on the feature of image, which are relevant in visual servoing, is studied. Two arithmetic for avoiding obstacles, rolling/surrounding and curved tracking based on the depth first search, are further discussed. The experiments show that the visual servoing model based on image, which is set up in this dissertation, can accomplish precise positioning with point-point error less than 3um. Rolling and surrounding and curved tracking based on the depth first search can automatically show the path for avoiding obstacles with error of positioning between 20-40?m.
Physiological and psychological basis for human-computer interaction and stereovision are expatiated. The control model of human-computer interaction for real-time micro manipulation is set up. Stability, sensitivity and step response of human-computer interaction are analyzed. Soft doubling frequency with two buffers based on the method of time-sharing for stereo visual display is put forward and by means of this technology flickering in time-sharing display is solved. Color micro stereovision subsystem is designed and established so that manipulator can real-time monitor the stereo Images of micromanipulation process through computer screen. The unit of interactive manipulation, which is used to control micromanipulations, is designed and accomplished. Under this unimmersive interactive environment for micromanipulation, operator with crystal glasses can observe the stereo image of micromanipulation from the computer screen and operate microactuator by controlling joysticks. The real-time interactive envir
onment for micromanipulation is proved to be reliable and steady, and can release the operator from eyepieces, reduce the technical
requirement towards manual operation, increase the efficiency of micromanipulation.
The discretizated formula for the flow in cone-shaped microchannel is constructed and the influence of scaling effects to microflow is studied too. Experiments are done to study the characters of pressured driven flow in cone-shaped microchannel, and provide experimental relationship between pressure and flow in cone-shaped microchannel which diameter is within4-15m. Experiment results show that flow calculated by discretizated formula for the flow in cone-shaped microchannel is more precise. According to the requirement of genetic microinjection, the pressure driven microinjector is developed. The experiments of microinjection are performed with this microinjector and the relationship curve among injected volume and pressure/time in the cone-shaped microchannel is shown.
本文围绕微操作的自动化和智能化主题，对微操作系统的组成和结构进行了规划，构建了一套计算机控制的微操作系统，包括显微视觉分系统、机械定位分系统、微注射仪和微夹持器。在此基础上，对三维微定位控制技术、基于显微立体图像显示的人机交互操纵环境和微量注射等三个内容进行了重点研究：
为了解决3D微定位问题，推导了显微视觉分系统采用的CMO型和G型体视显微镜光学成像模型，在此基础上建立了基于图像的3D显微视觉伺服定位控制模型，对视觉伺服中涉及的实时跟踪与立体匹配技术进行了研究，并进一步探讨了卷包裹法和曲线跟踪两种避障算法。通过实验证明：采用本文建立的基于图像的视觉伺服模型，能实现精确微定位，点-点微定位误差不超过3μm；采用卷包裹法和基于深度搜索的曲线跟踪避障能自动计算避障路径，定位误差在20-40μm。
阐述了人机交互和立体视觉的生理学和心理学基础；建立了人机交互实时操纵微操作的控制模型，分析了人机交互控制微操作的稳态误差、灵敏度和阶跃响应等特性；首次提出了用于双目立体图像时分显示的双缓冲软倍频技术，利用此方法解决了时分立体实时显示中的闪烁问题，实现了彩色显微立体图像的观测；设计并实现了交互操纵单元，对微操作过程进行操纵。在本文开发的非沉浸式微操作交互环境下，佩戴液晶眼镜的操作人员，能从计算机屏幕上观察立体三维微操作过程；通过控制操纵杆装置，可以操纵微执行器运动和动作，将操作者从显微镜目镜前解放出来，提高微操作的效率和成功率。
建立了离散化形式的变锥度微管道内压力流流量计算理论，研究了尺度效应对微流体传输的影响，通过实验研究了微锥形管道内气压驱动连续流的流动特性，给出了尖端直径在4-15μm范围内的微锥形管道内连续流压力与流量的实验关系。实验结果表明：采用变锥度角公式计算流量比等锥度角公式计算流量更接近于实验流量。根据转基因微量注射的要求，开发了气压驱动的自动微量注射仪样机。采用微量注射仪，对微锥形管道内注射量与注射时间和注射压的关系进行了实验测试。
cromanipulation is the manipulation and treatment of objects with characteristic feature size of um and sub-urn. The instrument, which is necessary for manipulation, is usually called micromanipulation system or manipulation robot. It functions in micrograpping, micromanipulation, microprocessing, microassembling, etc. It is the essential instrument in manipulating micro objects and has been widely used in biology and assembly of MEMS parts. In recent years the study of micromanipulation instrument and technology has become a heated topic in the area of MEMS and robot research.
In order to improve the level of automatization and intelligentization in micro manipulation, the compose and structure of micromanipulation system are provided and a set of micromanipulation system is constructed, which includes microvision subsystem, micropositioning subsystem, microinjector and micrograpper. 3D control of micropositioning, the environment for human-computer interaction based on the micro stereo image displaying, and microinjection are three focuses of this dissertation.
The imaging models of CMO micro stereoscope and G micro stereoscope used in microvision subsystem are deduced. According to the imaging models, 3D visual servoing model based on image for micropositioning is set up. The technology of tracking and matching on the feature of image, which are relevant in visual servoing, is studied. Two arithmetic for avoiding obstacles, rolling/surrounding and curved tracking based on the depth first search, are further discussed. The experiments show that the visual servoing model based on image, which is set up in this dissertation, can accomplish precise positioning with point-point error less than 3um. Rolling and surrounding and curved tracking based on the depth first search can automatically show the path for avoiding obstacles with error of positioning between 20-40?m.
Physiological and psychological basis for human-computer interaction and stereovision are expatiated. The control model of human-computer interaction for real-time micro manipulation is set up. Stability, sensitivity and step response of human-computer interaction are analyzed. Soft doubling frequency with two buffers based on the method of time-sharing for stereo visual display is put forward and by means of this technology flickering in time-sharing display is solved. Color micro stereovision subsystem is designed and established so that manipulator can real-time monitor the stereo Images of micromanipulation process through computer screen. The unit of interactive manipulation, which is used to control micromanipulations, is designed and accomplished. Under this unimmersive interactive environment for micromanipulation, operator with crystal glasses can observe the stereo image of micromanipulation from the computer screen and operate microactuator by controlling joysticks. The real-time interactive envir
onment for micromanipulation is proved to be reliable and steady, and can release the operator from eyepieces, reduce the technical
requirement towards manual operation, increase the efficiency of micromanipulation.
The discretizated formula for the flow in cone-shaped microchannel is constructed and the influence of scaling effects to microflow is studied too. Experiments are done to study the characters of pressured driven flow in cone-shaped microchannel, and provide experimental relationship between pressure and flow in cone-shaped microchannel which diameter is within4-15m. Experiment results show that flow calculated by discretizated formula for the flow in cone-shaped microchannel is more precise. According to the requirement of genetic microinjection, the pressure driven microinjector is developed. The experiments of microinjection are performed with this microinjector and the relationship curve among injected volume and pressure/time in the cone-shaped microchannel is shown.
引文
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