A run-to-run optimization controller uses a reduced set of measurement parameters, in comparison to more general feedback controllers, to converge to the best control point for a repetitive process. A new run-to-run optimization controller is presented for the scanning fiber device used for image acquisition and display. This controller utilizes very sparse measurements to estimate a system energy measure and updates the input parameterizations iteratively within a feedforward with exact-inversion framework. Analysis, simulation, and experimental investigations on the scanning fiber device demonstrate improved scan accuracy over previous methods and automatic controller adaptation to changing operating temperature. A specific application example and quantitative error analyses are provided of a scanning fiber endoscope that maintains high image quality continuously across a 20 °C temperature rise without interruption of the 56 Hz video.
Issue Section:
Research Papers
References
1.
Lee
, C. M.
, Engelbrecht
, C. J.
, Soper
, T. D.
, Helmchen
, F.
, and Seibel
, E. J.
, 2010
, “Scanning Fiber Endoscopy With Highly Flexible, 1-mm Catheterscopes for Wide-Field, Full-Color Imaging
,” J. Biophotonics
, 3
(5–6
), pp. 385
–407
.2.
Bryant
, R. C.
, Seibel
, E. J.
, Lee
, C. M.
, and Schroder
, K. E.
, 2004
, “Low-Cost Wearable Low-Vision Aid Using a Handmade Retinal Light-Scanning Microdisplay
,” J. Soc. Inf. Disp.
, 12
(4
), pp. 397
–404
.3.
Yang
, C.
, Hou
, V. W.
, Girard
, E. J.
, Nelson
, L. Y.
, and Seibel
, E. J.
, 2014
, “Target-to-Background Enhancement in Multispectral Endoscopy With Background Autofluorescence Mitigation for Quantitative Molecular Imaging
,” J. Biomed. Opt.
, 19
(7
), p. 076014
.4.
Soper
, T. D.
, Porter
, M. P.
, and Seibel
, E. J.
, 2012
, “Surface Mosaics of the Bladder Reconstructed From Endoscopic Video for Automated Surveillance
,” IEEE Trans. Biomed. Eng.
, 59
(6
), pp. 1670
–1680
.5.
Woldetensae
, M. H.
, Kirshenbaum
, M. R.
, Kramer
, G. M.
, Zhang
, L.
, and Seibel
, E. J.
, 2013
, “Fluorescence Image-Guided Photodynamic Therapy of Cancer Cells Using a Scanning Fiber Endoscope
,” Proc. SPIE
, 8576
, p. 85760L
.6.
Gong
, Y.
, Hu
, D.
, Hannaford
, B.
, and Seibel
, E. J.
, 2014
, “Accurate Three-Dimensional Virtual Reconstruction of Surgical Field Using Calibrated Trajectories of an Image-Guided Medical Robot
,” J. Med. Imaging
, 1
(3
), p. 035002
.7.
Gong
, Y.
, Johnston
, R. S.
, Melville
, C. D.
, and Seibel
, E. J.
, 2015
, “Axial-Stereo 3-D Optical Metrology for Inner Profile of Pipes Using a Scanning Laser Endoscope
,” Int. J. Optomechatronics
, 9
(3
), pp. 238
–247
.8.
McVeigh
, P. Z.
, Sacho
, R.
, Weersink
, R. A.
, Pereira
, V. M.
, Kucharczyk
, W.
, Seibel
, E. J.
, Wilson
, B. C.
, and Krings
, T.
, 2014
, “High-Resolution Angioscopic Imaging During Endovascular Neurosurgery
,” Neurosurgery
, 75
(2
), pp. 171
–180
.9.
Templeton
, A. W.
, Webb
, K.
, Hwang
, J. H.
, Seibel
, E. J.
, and Saunders
, M.
, 2014
, “Scanning Fiber Endoscopy: A Novel Platform for Cholangioscopy
,” Gastrointest. Endos.
, 79
(6
), pp. 1000
–1001
.10.
Kundrat
, M. J.
, Reinhall
, P. G.
, and Seibel
, E. J.
, 2011
, “Method to Achieve High Frame Rates in a Scanning Fiber Endoscope
,” ASME J. Med. Devices
, 5
(3
), p. 034501
.11.
Kundrat
, M. J.
, Reinhall
, P. G.
, Lee
, C. M.
, and Seibel
, E. J.
, 2011
, “High Performance Open Loop Control of Scanning With a Small Cylindrical Cantilever Beam
,” J. Sound Vib.
, 330
(8
), pp. 1762
–1771
.12.
Smithwick
, Q. Y.
, Vagners
, J.
, Johnston
, R. S.
, and Seibel
, E. J.
, 2010
, “A Hybrid Nonlinear Adaptive Tracking Controller for a Resonating Fiber Microscanner
,” ASME J. Dyn. Syst. Meas. Control
, 132
(1
), p. 011001
.13.
Smithwick
, Q. Y.
, Seibel
, E. J.
, Reinhall
, P. G.
, and Vagners
, J.
, 2001
, “Control Aspects of the Single-Fiber Scanning Endoscope
,” Proc. SPIE
, 4253
, pp. 176
–188
.14.
Smithwick
, Q. Y.
, Vagners
, J.
, Reinhall
, P. G.
, and Seibel
, E. J.
, 2003
, “54.3: Modeling and Control of the Resonant Fiber Scanner for Laser Scanning Display or Acquisition
,” SID Symposium Digest of Technical Papers
, Baltimore, Maryland, May 21–23, Blackwell Publishing Ltd, Hoboken, NJ, Vol. 34
, pp. 1455
–1457
.15.
Smithwick
, Q. Y.
, Vagners
, J.
, Reinhall
, P. G.
, and Seibel
, E. J.
, 2006
, “An Error Space Controller for a Resonating Fiber Scanner: Simulation and Implementation
,” ASME J. Dyn. Syst. Meas. Control
, 128
(4
), pp. 899
–913
.16.
Yeoh
, I. L.
, Reinhall
, P. G.
, Berg
, M. C.
, and Seibel
, E. J.
, 2015
, “Self-Contained Image Recalibration in a Scanning Fiber Endoscope Using Piezoelectric Sensing
,” ASME J. Med. Devices
, 9
(1
), p. 011004
.17.
Yeoh
, I. L.
, Reinhall
, P. G.
, Berg
, M. C.
, Chizeck
, H. J.
, and Seibel
, E. J.
, 2016
, “Electro-Mechanical Modeling and Adaptive Feedforward Control of a Self-Sensing Scanning Fiber Endoscope
,” ASME J. Dyn. Syst. Meas. Control
, 138
(10
), p. 101006
.18.
Hu
, D.
, Gong
, Y.
, Hannaford
, B.
, and Seibel
, E. J.
, 2015
, “Semi-Autonomous Simulated Brain Tumor Ablation With RAVENII Surgical Robot Using Behavior Tree
,” 2015 IEEE International Conference on Robotics and Automation
(ICRA
), Seattle, Washington, May 26–30, pp. 3868
–3875
.19.
Wang
, Y.
, Gao
, F.
, and Doyle
, F. J.
, 2009
, “Survey on Iterative Learning Control, Repetitive Control, and Run-to-Run Control
,” J. Process Control
, 19
(10
), pp. 1589
–1600
.20.
Hagood
, N. W.
, and Anderson
, E. H.
, 1992
, “Simultaneous Sensing and Actuation Using Piezoelectric Materials
,” Proc. SPIE
, 1543
, pp. 409
–421
.21.
Simmers
, G. E.
, Hodgkins
, J. R.
, Mascarenas
, D. D.
, Park
, G.
, and Sohn
, H.
, 2004
, “Improved Piezoelectric Self-Sensing Actuation
,” J. Intell. Mater. Syst. Struct.
, 15
(12
), pp. 941
–953
.22.
Good
, R.
, Hahn
, J.
, Edison
, T.
, and Qin
, S. J.
, 2002
, “Drug Dosage Adjustment Via Run-to-Run Control
,” IEEE American Control Conference
(ACC
), Anchorage, Alaska, May 8–10, Vol. 5
, pp. 4044
–4049
.23.
Butler
, S. W.
, and Stefani
, J. A.
, 1994
, “Supervisory Run-to-Run Control of Polysilicon Gate Etch Using In Situ Ellipsometry
,” IEEE Trans. Semiconductor Manuf.
, 7
(2
), pp. 193
–201
.24.
Srinivasan
, B.
, Bonvin
, D.
, Visser
, E.
, and Palanki
, S.
, 2003
, “Dynamic Optimization of Batch Processes—II: Role of Measurements in Handling Uncertainty
,” Comput. Chem. Eng.
, 27
(1
), pp. 27
–44
.25.
Srinivasan
, B.
, Palanki
, S.
, and Bonvin
, D.
, 2003
, “Dynamic Optimization of Batch Processes—I: Characterization of the Nominal Solution
,” Comput. Chem. Eng.
, 27
(1
), pp. 1
–26
.26.
Zafiriou
, E.
, Adomaitis
, R. A.
, and Gattu
, G.
, 1995
, “An Approach to Run-to-Run Control for Rapid Thermal Processing
,” IEEE American Control Conference
(ACC
), Seattle, WA, June 21–23, Vol. 2
, pp. 1286
–1288
.27.
Srinivasan
, B.
, Primus
, C. J.
, Bonvin
, D.
, and Ricker
, N. L.
, 2001
, “Run-to-Run Optimization Via Control of Generalized Constraints
,” Control Eng. Pract.
, 9
(8
), pp. 911
–919
.28.
Owens
, C.
, Zisser
, H.
, Jovanovic
, L.
, Srinivasan
, B.
, Bonvin
, D.
, and Doyle
, F. J.
, III, 2006
, “Run-to-Run Control of Blood Glucose Concentrations for People With Type 1 Diabetes Mellitus
,” IEEE Trans. Biomed. Eng.
, 53
(6
), pp. 996
–1005
.29.
Clayton
, G. M.
, Tien
, S.
, Leang
, K. K.
, Zou
, Q.
, and Devasia
, S.
, 2009
, “A Review of Feedforward Control Approaches in Nanopositioning for High-Speed SPM
,” ASME J. Dyn. Syst. Meas. Control
, 131
(6
), p. 061101
.30.
Zisser
, H.
, Jovanovic
, L.
, Doyle
, F.
, III, Ospina
, P.
, and Owens
, C.
, 2005
, “Run-to-Run Control of Meal-Related Insulin Dosing
,” Diabetes Technol. Ther.
, 7
(1
), pp. 48
–57
.Copyright © 2017 by ASME
You do not currently have access to this content.
