Constrained Run-to-Run Control for Precision Serial Sectioning

This paper presents a run-to-run (R2R) controller for mechanical serial sectioning (MSS). MSS is a destructive material analysis process which repeatedly removes a thin layer of material and images the exposed surface. The images are then used to gain insight into the material properties and often to construct a 3-dimensional reconstruction of the material sample. Currently, an experience human operator selects the parameters of the MSS to achieve the desired thickness. The proposed R2R controller will automate this process while improving the precision of the material removal. The proposed R2R controller solves an optimization problem designed to minimize the variance of the material removal subject to achieving the expected target removal. This optimization problem was embedded in an R2R framework to provide iterative feedback for disturbance rejection and convergence to the target removal amount. Since an analytic model of the MSS system is unavailable, we adopted a data-driven approach to synthesize our R2R controller from historical data. The proposed R2R controller is demonstrated through simulations. Future work will empirically demonstrate the proposed R2R through experiments with a real MSS system.