![](bga.png)
consideration for closed loop control of the X and Y
axes including hysteresis compensation method for
piezo-actuators based on the discrete Preisach model
(Marinov, 2009), as well as for injector pipette in Z-
axis in order to realize the successful cell injection.
ACKNOWLEDGEMENTS
The authors gratefully acknowledge the support for
this work through the project SpeSy-MiNT funded
by the Bulgarian National Science Foundation under
the Contract Nr. DO 0171/16.12.2008.
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