This paper validates a previously introduced scalable modular control architecture and shows how it can be used to
implement research equipment. The validation is conducted by presenting different kinds of micromanipulation
applications that use the architecture.
Conditions of the micro-world are very different from those of the macro-world. Adhesive forces are significant
compared to gravitational forces when micro-scale objects are manipulated. Manipulation is mainly conducted by
automatic control relying on haptic feedback provided by force sensors.
The validated architecture is a hierarchical layered hybrid architecture, including a reactive layer and a planner layer.
The implementation of the architecture is modular, and the architecture has a lot in common with open architectures.
Further, the architecture is extensible, scalable, portable and it enables reuse of modules. These are the qualities that we
validate in this paper.
To demonstrate the claimed features, we present different applications that require special control in micrometer,
millimeter and centimeter scales. These applications include a device that measures cell adhesion, a device that examines
properties of thin films, a device that measures adhesion of micro fibers and a device that examines properties of
submerged gel produced by bacteria. Finally, we analyze how the architecture is used in these applications.