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SIMULINK schematic to generate PWM signal for a given control signal to drive the associated DC motor.

Journal: Micromachines

Article Title: Multi-Scale Robotics: A Numerical Investigation on Mobile Micro-Tweezers for Micro-Manipulation with Extreme Requirements

doi: 10.3390/mi16010040

Figure Lengend Snippet: SIMULINK schematic to generate PWM signal for a given control signal to drive the associated DC motor.

Article Snippet: The control signal is used to generate the necessary pulse-width-modulation (PWM) signal with correct voltage amplification to attain the nominal voltage supply determined by the manufacturer, i.e., 48 V. Please see for the PWM signal generation in the SIMULINK environment and a,b for PWM signals without amplification.

Techniques: Control

PWM signals on the third degree-of-freedom for the control tasks in this study: ( a ) PWM signals before (in blue) and after (in red) the direction of motion was altered; ( b ) PWM signal while dragging the vortex core with a relatively greater velocity reference.

Journal: Micromachines

Article Title: Multi-Scale Robotics: A Numerical Investigation on Mobile Micro-Tweezers for Micro-Manipulation with Extreme Requirements

doi: 10.3390/mi16010040

Figure Lengend Snippet: PWM signals on the third degree-of-freedom for the control tasks in this study: ( a ) PWM signals before (in blue) and after (in red) the direction of motion was altered; ( b ) PWM signal while dragging the vortex core with a relatively greater velocity reference.

Article Snippet: The control signal is used to generate the necessary pulse-width-modulation (PWM) signal with correct voltage amplification to attain the nominal voltage supply determined by the manufacturer, i.e., 48 V. Please see for the PWM signal generation in the SIMULINK environment and a,b for PWM signals without amplification.

Techniques: Control

Reaction to a sudden change in direction of velocity reference before and after the change in direction occurs, in blue and in red, respectively: ( a ) tracking error calculated for the vortex core on the XY-plane; ( b ) computed control signal comparison for traverse on the XY-plane with an inset for the second velocity reference (in red); ( c ) motor currents for traverse on the XY-plane; ( d ) amplified PWM signal and motor current for the third degree-of-freedom; ( e ) magnetic field density felt by the vortex; ( f ) Brownian noise for the bacterium.

Journal: Micromachines

Article Title: Multi-Scale Robotics: A Numerical Investigation on Mobile Micro-Tweezers for Micro-Manipulation with Extreme Requirements

doi: 10.3390/mi16010040

Figure Lengend Snippet: Reaction to a sudden change in direction of velocity reference before and after the change in direction occurs, in blue and in red, respectively: ( a ) tracking error calculated for the vortex core on the XY-plane; ( b ) computed control signal comparison for traverse on the XY-plane with an inset for the second velocity reference (in red); ( c ) motor currents for traverse on the XY-plane; ( d ) amplified PWM signal and motor current for the third degree-of-freedom; ( e ) magnetic field density felt by the vortex; ( f ) Brownian noise for the bacterium.

Article Snippet: The control signal is used to generate the necessary pulse-width-modulation (PWM) signal with correct voltage amplification to attain the nominal voltage supply determined by the manufacturer, i.e., 48 V. Please see for the PWM signal generation in the SIMULINK environment and a,b for PWM signals without amplification.

Techniques: Control, Comparison, Amplification

Reaction to constant and comparatively violent pull by the magnetic field: ( a ) error in tracking calculated for the vortex core on the XY-plane; ( b ) computed control signal comparison for traverse on the XY-plane ( c ) motor currents for traverse on the XY-plane; ( d ) amplified PWM signal and motor current for the third degree-of-freedom; ( e ) magnetic field density felt by the vortex; ( f ) Brownian noise on the bacterium.

Journal: Micromachines

Article Title: Multi-Scale Robotics: A Numerical Investigation on Mobile Micro-Tweezers for Micro-Manipulation with Extreme Requirements

doi: 10.3390/mi16010040

Figure Lengend Snippet: Reaction to constant and comparatively violent pull by the magnetic field: ( a ) error in tracking calculated for the vortex core on the XY-plane; ( b ) computed control signal comparison for traverse on the XY-plane ( c ) motor currents for traverse on the XY-plane; ( d ) amplified PWM signal and motor current for the third degree-of-freedom; ( e ) magnetic field density felt by the vortex; ( f ) Brownian noise on the bacterium.

Article Snippet: The control signal is used to generate the necessary pulse-width-modulation (PWM) signal with correct voltage amplification to attain the nominal voltage supply determined by the manufacturer, i.e., 48 V. Please see for the PWM signal generation in the SIMULINK environment and a,b for PWM signals without amplification.

Techniques: Control, Comparison, Amplification