Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481224
V. Guelpa, A. Kudryavtsev, N. Piat, S. Dembélé
With growing trend of miniaturization, new challenges in microrobotics have appeared. In particular, the complexity of microworld comes from the fact that visual sensors such as Scanning Electron Microscope have a very different principles of image formation in contrast with classical cameras, and their field of view stay very limited. Moreover, usually, the kinematic model of the robots used are not well defined. The consequence of both properties is that even a small movement of the robot arm leads to a huge object displacement comparing to the size of the viewed area. This paper develops a procedure allowing to perform object rotation while keeping it at the same 3D-position in open loop. Such performance is achieved by a method of robot calibration based on visual servoing and autofocus inside SEM. This kind of properties is required for manipulation and 3D reconstruction inside SEM.
{"title":"Accurate 3D-Positioning in a SEM Through Robot Calibration","authors":"V. Guelpa, A. Kudryavtsev, N. Piat, S. Dembélé","doi":"10.1109/MARSS.2018.8481224","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481224","url":null,"abstract":"With growing trend of miniaturization, new challenges in microrobotics have appeared. In particular, the complexity of microworld comes from the fact that visual sensors such as Scanning Electron Microscope have a very different principles of image formation in contrast with classical cameras, and their field of view stay very limited. Moreover, usually, the kinematic model of the robots used are not well defined. The consequence of both properties is that even a small movement of the robot arm leads to a huge object displacement comparing to the size of the viewed area. This paper develops a procedure allowing to perform object rotation while keeping it at the same 3D-position in open loop. Such performance is achieved by a method of robot calibration based on visual servoing and autofocus inside SEM. This kind of properties is required for manipulation and 3D reconstruction inside SEM.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133574987","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481196
Elizabeth E. Hunter, Evan W. Brink, E. Steager, Vijay R. Kumar
Small-scale robots are widely applicable for use in biological environments. Robots operating in these workspaces require non-cytotoxic and biodegradable architectures. Traditional methods of manufacturing millimeter or micrometer scale robots inherently preclude the use of many naturally-derived biological materials which fulfill these requirements. Fabrication via micromolding presents a practical method to incorporate these materials into the small-scale robot design space. In this work, we investigate the development of helical-shaped soft, micro bio robots (SMBRs) which are composed of naturally-derived, water-based hydrogels infused with iron oxide and are propelled using uniform, rotating magnetic fields. By incorporating a humectant into the molding process, we are able to create robots that are $pmb{3-10}times mathbf{smaller}$ in characteristic dimensions and more than $pmb{50}times$ smaller in volume from our previous work. We explore the limitations of using stereolithography and two-photon polymerization printing processes to create molds, and demonstrate that our method can be used across length scales. We demonstrate and characterize the swimming behavior of microscale molded robots at a range of applied magnetic field frequencies, and compare their swimming velocity to their millimeter-scale counterparts. This work enables robot fabrication using functional biological materials, such that these robots can be used for biomedical tasks such as cellular and chemical cargo delivery.
{"title":"3D Micromolding of Small-Scale Biological Robots","authors":"Elizabeth E. Hunter, Evan W. Brink, E. Steager, Vijay R. Kumar","doi":"10.1109/MARSS.2018.8481196","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481196","url":null,"abstract":"Small-scale robots are widely applicable for use in biological environments. Robots operating in these workspaces require non-cytotoxic and biodegradable architectures. Traditional methods of manufacturing millimeter or micrometer scale robots inherently preclude the use of many naturally-derived biological materials which fulfill these requirements. Fabrication via micromolding presents a practical method to incorporate these materials into the small-scale robot design space. In this work, we investigate the development of helical-shaped soft, micro bio robots (SMBRs) which are composed of naturally-derived, water-based hydrogels infused with iron oxide and are propelled using uniform, rotating magnetic fields. By incorporating a humectant into the molding process, we are able to create robots that are $pmb{3-10}times mathbf{smaller}$ in characteristic dimensions and more than $pmb{50}times$ smaller in volume from our previous work. We explore the limitations of using stereolithography and two-photon polymerization printing processes to create molds, and demonstrate that our method can be used across length scales. We demonstrate and characterize the swimming behavior of microscale molded robots at a range of applied magnetic field frequencies, and compare their swimming velocity to their millimeter-scale counterparts. This work enables robot fabrication using functional biological materials, such that these robots can be used for biomedical tasks such as cellular and chemical cargo delivery.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132461856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481229
Xiang Zhang, Xianmin Zhang, Kai Li
An adaptive and high precision optical flow estimation approach for moving object detection is proposed. The proposed method (P-M) is composed of a K-means clustering based particle swarm optimization algorithm (PSO-K), an improved multi-scale method and a flow field verification strategy. To test the P-M, a series of experiments are carried out. The experimental result based on the Middlebury training set shows that the P-M estimates the uniform distribution of flow field and the boundary between moving objects is clearly visible. Moreover, the P-M has the highest accuracy with minimal average endpoint error (AEPE) and average angular error (AAE) compared to the Lukas Kanade (LK) method, the classic Horn Schunck (C-HS) method and block-based matching (BL) method. The AEPE and AAE for the P-M are 0.427 and 3.402, respectively. The maximum average relative improvement rates (ARIR) are 43.816% and 70.252 %, respectively. Furthermore, the test result of the micro-vision image sequence demonstrates that the P-M has a high performance, which can accurately detect the moving targets even in the presence of large displacement.
{"title":"A High-Performance Moving Object Detection Method Based on Optical Flow","authors":"Xiang Zhang, Xianmin Zhang, Kai Li","doi":"10.1109/MARSS.2018.8481229","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481229","url":null,"abstract":"An adaptive and high precision optical flow estimation approach for moving object detection is proposed. The proposed method (P-M) is composed of a K-means clustering based particle swarm optimization algorithm (PSO-K), an improved multi-scale method and a flow field verification strategy. To test the P-M, a series of experiments are carried out. The experimental result based on the Middlebury training set shows that the P-M estimates the uniform distribution of flow field and the boundary between moving objects is clearly visible. Moreover, the P-M has the highest accuracy with minimal average endpoint error (AEPE) and average angular error (AAE) compared to the Lukas Kanade (LK) method, the classic Horn Schunck (C-HS) method and block-based matching (BL) method. The AEPE and AAE for the P-M are 0.427 and 3.402, respectively. The maximum average relative improvement rates (ARIR) are 43.816% and 70.252 %, respectively. Furthermore, the test result of the micro-vision image sequence demonstrates that the P-M has a high performance, which can accurately detect the moving targets even in the presence of large displacement.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115431658","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481184
Ferhat Sadak, M. Saadat, A. M. Hajiyavand, G. Nomicos
_ Intracytoplasmic sperm injection is an assisted reproductive technology in which a single spermatozoon is physically injected into the cytoplasm of an oocyte using a narrow glass needle. Over the past decade, rapid development of intracytoplasmic sperm injection (ICSI) has led to high demand on having precise injector motion and control during the injection task. Injector speed is a restricted dynamical factor in the injection task as it has a direct impact on the amplitude of the lateral displacement at the micropipette tip and therefore cell deformation creation. Analytical and numerical approaches have been instigated and the results have been compared to show the effect of injection speed on lateral displacement of the micro pipette tip. Euler-Bernoulli thin beam theory and the Matlab-Simscape Multibody dynamics simulation tool have been employed for analytical and numerical solution respectively. Cell deformation has been reported when evaluating the resultant lateral displacement of the micropipette during injection. It is found that this displacement helps to pierce the cell membrane during injection. This is due to additional stress created on the cell membrane. An optimal injection speed has thus been determined considering the lateral vibration induced by injection speed and cell deformation.
{"title":"Vibrational Analysis During Cell Injection in ICSI Operation","authors":"Ferhat Sadak, M. Saadat, A. M. Hajiyavand, G. Nomicos","doi":"10.1109/MARSS.2018.8481184","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481184","url":null,"abstract":"_ Intracytoplasmic sperm injection is an assisted reproductive technology in which a single spermatozoon is physically injected into the cytoplasm of an oocyte using a narrow glass needle. Over the past decade, rapid development of intracytoplasmic sperm injection (ICSI) has led to high demand on having precise injector motion and control during the injection task. Injector speed is a restricted dynamical factor in the injection task as it has a direct impact on the amplitude of the lateral displacement at the micropipette tip and therefore cell deformation creation. Analytical and numerical approaches have been instigated and the results have been compared to show the effect of injection speed on lateral displacement of the micro pipette tip. Euler-Bernoulli thin beam theory and the Matlab-Simscape Multibody dynamics simulation tool have been employed for analytical and numerical solution respectively. Cell deformation has been reported when evaluating the resultant lateral displacement of the micropipette during injection. It is found that this displacement helps to pierce the cell membrane during injection. This is due to additional stress created on the cell membrane. An optimal injection speed has thus been determined considering the lateral vibration induced by injection speed and cell deformation.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"461 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116508470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481189
F. Iwata, Toshiki Matsuura
We describe a novel micro three-dimensional (3D) fabrication method based on electrophoretic deposition assisted by laser trapping. This method is a combination of laser trapping and electrophoresis deposition. In a colloidal nanoparticle solution, the nanoparticles are gathered into a laser spot focused on a substrate, they were then electrophoretically deposited on the substrate by applying an electrical field. Using the method, we have performed fabrication of micro 3D structures such as pillars and spirals by moving the substrate downward while keeping the deposition. In this paper, to improve the fabrication method, we introduced a spatial light modulator (SLM) into our system. The SLM can form multiple laser spots simultaneously to fabricate multiple pillars. However, in the case of fabrication of multiple microstructures using the multiple laser spots, unintended sub-spots also appear due to optical interference of the multiple laser spots, which results in deterioration of the fabrication. Here, to avoid the appearance of the undesirable sub-spots, a novel method using quasi-multiple laser spots were proposed. By switching a position of a single spot briefly using the SLM, multiple microstructures were successfully fabricated with suppressing the undesirable sub-spots. Furthermore, by oscillating a beam spot with a small amplitude while moving the substrate downward, we successfully improved the reproducibility of the fabrication.
{"title":"Three Dimensional Microfabrication Using Local Electrophoretic Deposition Assisted with Laser Trapping Controlled by a Spatial Light Modulator","authors":"F. Iwata, Toshiki Matsuura","doi":"10.1109/MARSS.2018.8481189","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481189","url":null,"abstract":"We describe a novel micro three-dimensional (3D) fabrication method based on electrophoretic deposition assisted by laser trapping. This method is a combination of laser trapping and electrophoresis deposition. In a colloidal nanoparticle solution, the nanoparticles are gathered into a laser spot focused on a substrate, they were then electrophoretically deposited on the substrate by applying an electrical field. Using the method, we have performed fabrication of micro 3D structures such as pillars and spirals by moving the substrate downward while keeping the deposition. In this paper, to improve the fabrication method, we introduced a spatial light modulator (SLM) into our system. The SLM can form multiple laser spots simultaneously to fabricate multiple pillars. However, in the case of fabrication of multiple microstructures using the multiple laser spots, unintended sub-spots also appear due to optical interference of the multiple laser spots, which results in deterioration of the fabrication. Here, to avoid the appearance of the undesirable sub-spots, a novel method using quasi-multiple laser spots were proposed. By switching a position of a single spot briefly using the SLM, multiple microstructures were successfully fabricated with suppressing the undesirable sub-spots. Furthermore, by oscillating a beam spot with a small amplitude while moving the substrate downward, we successfully improved the reproducibility of the fabrication.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114868426","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481180
Zhe Wang, B. Mandracchia, P. Ferraro, V. Ferraro, E. Di Maio, P. Maffettone, Wei-Chung Chen, E. Fried
The thickness of thin liquid films is of great interest to industrial processes and life science. Here we propose a holographic system for the evaluation of the 3D topography and thickness of evolving thin liquid film.
{"title":"Fast and Accurate Thickness Mapping of Liquid Bubbles and Thin Protein Films","authors":"Zhe Wang, B. Mandracchia, P. Ferraro, V. Ferraro, E. Di Maio, P. Maffettone, Wei-Chung Chen, E. Fried","doi":"10.1109/MARSS.2018.8481180","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481180","url":null,"abstract":"The thickness of thin liquid films is of great interest to industrial processes and life science. Here we propose a holographic system for the evaluation of the 3D topography and thickness of evolving thin liquid film.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128652502","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481222
A. K. Panda, M. Bobji
This paper presents the step by step design of a high stiffness inertial slider for applications such as In-situ transmission electron microscope (TEM) where high precision positioning is required. The effect of various parameters on dynamic behavior of the inertial slider is studied. The most critical parameter controlling the dynamics of the slider system is the stiffness of the system. In the design the stiffness of all the input components are lumped together to achieve at the effective stiffness. The design of applied waveform to obtain maximum step size and higher speed of the slider are discussed. The effect of external guide force and damping of the system are also studied in this work. The other parameters which decide the design are the mass of slider, mass of piezo, friction co-efficient between the piezo electric actuator and the slider, slope during rise & drop of the waveform, etc. For a given set of these parameters a minimum stiffness requirement is proposed. Using physical principles, equations are developed to estimate the step size for given input parameters. The effect of variation in input parameters of the system are also studied using numerical experiments carried out using MATLAB.
{"title":"Design of High Stiffness Inertial Slider for in-Situ TEM","authors":"A. K. Panda, M. Bobji","doi":"10.1109/MARSS.2018.8481222","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481222","url":null,"abstract":"This paper presents the step by step design of a high stiffness inertial slider for applications such as In-situ transmission electron microscope (TEM) where high precision positioning is required. The effect of various parameters on dynamic behavior of the inertial slider is studied. The most critical parameter controlling the dynamics of the slider system is the stiffness of the system. In the design the stiffness of all the input components are lumped together to achieve at the effective stiffness. The design of applied waveform to obtain maximum step size and higher speed of the slider are discussed. The effect of external guide force and damping of the system are also studied in this work. The other parameters which decide the design are the mass of slider, mass of piezo, friction co-efficient between the piezo electric actuator and the slider, slope during rise & drop of the waveform, etc. For a given set of these parameters a minimum stiffness requirement is proposed. Using physical principles, equations are developed to estimate the step size for given input parameters. The effect of variation in input parameters of the system are also studied using numerical experiments carried out using MATLAB.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128719453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481162
Xiaozhi Zhang, Qingsong Xu
This paper presents the design and analysis of a new compliant constant-force gripper based on compound constant-force mechanism. The constant-force property can reduce the input force and prevent the object from damage without using a force feedback control. The compound constant-force mechanism contains an active and a passive constant-force structure. The active constant-force structure can reduce the input force, while the passive constant-force structure offers the safe interaction during the gripping operation. To evaluate the performance of the compound constant-force mechanism, analytical modeling is carried out, which is verified by conducting finite element analysis (FEA) simulation study. Results demonstrate the promising performance of the proposed mechanism design.
{"title":"Design and Analysis of a Compound Constant-Force Mechanism for Compliant Gripper","authors":"Xiaozhi Zhang, Qingsong Xu","doi":"10.1109/MARSS.2018.8481162","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481162","url":null,"abstract":"This paper presents the design and analysis of a new compliant constant-force gripper based on compound constant-force mechanism. The constant-force property can reduce the input force and prevent the object from damage without using a force feedback control. The compound constant-force mechanism contains an active and a passive constant-force structure. The active constant-force structure can reduce the input force, while the passive constant-force structure offers the safe interaction during the gripping operation. To evaluate the performance of the compound constant-force mechanism, analytical modeling is carried out, which is verified by conducting finite element analysis (FEA) simulation study. Results demonstrate the promising performance of the proposed mechanism design.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125547798","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481178
T. Blad, D. F. Machekposhti, J.L. Herder, A. Holmes, N. Tolou
Vibration energy harvesting can be used as a sustainable power source for various applications. Usually, the generators are designed as devices with a single degree of freedom (SDoF) along the direction of the driving motion. In this research, harvesting from multi-directional (translational) motion sources will be investigated. Three strategies are assessed: a reference SDoF generator, a SDoF generator using an orientation strategy, and a Multi Degree of Freedom (MDoF) system. This led to the development of a design metric by which any 2D design problem can be described by two dimensionless parameters: the relative strength of vibrations, $p_{v}$, and the relative dimension of the design space, $p_{l}$. It was shown that the relative power density (RPD) of a 2DoF system compared to a reference SDoF system only depends on the product $p^{ast}=p_{v}p_{l}$, and has a maximum of 1.185 for $p^{ast}=1$. The application of powering a hearing aid is investigated as a case study. It was found that the vibrations in the area of the human head while walking can be represented by a two-directional vibration source with $p_{v}=0.55$. Three different design spaces are assessed for a miniaturized generator and three different optimal embodiments are found. For one of the considered situations where $p^{ast}=1.1$, a 2DoF system was found to have a 16% higher power output compared to a SDoF reference. The aim of future work will be the validation of the developed metric.
{"title":"Vibration Energy Harvesting from Multi-Directional Motion Sources","authors":"T. Blad, D. F. Machekposhti, J.L. Herder, A. Holmes, N. Tolou","doi":"10.1109/MARSS.2018.8481178","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481178","url":null,"abstract":"Vibration energy harvesting can be used as a sustainable power source for various applications. Usually, the generators are designed as devices with a single degree of freedom (SDoF) along the direction of the driving motion. In this research, harvesting from multi-directional (translational) motion sources will be investigated. Three strategies are assessed: a reference SDoF generator, a SDoF generator using an orientation strategy, and a Multi Degree of Freedom (MDoF) system. This led to the development of a design metric by which any 2D design problem can be described by two dimensionless parameters: the relative strength of vibrations, $p_{v}$, and the relative dimension of the design space, $p_{l}$. It was shown that the relative power density (RPD) of a 2DoF system compared to a reference SDoF system only depends on the product $p^{ast}=p_{v}p_{l}$, and has a maximum of 1.185 for $p^{ast}=1$. The application of powering a hearing aid is investigated as a case study. It was found that the vibrations in the area of the human head while walking can be represented by a two-directional vibration source with $p_{v}=0.55$. Three different design spaces are assessed for a miniaturized generator and three different optimal embodiments are found. For one of the considered situations where $p^{ast}=1.1$, a 2DoF system was found to have a 16% higher power output compared to a SDoF reference. The aim of future work will be the validation of the developed metric.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121922926","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481192
Ya-Lan Lin, Na Liu, Yang Yang, Shaorong Xie, Liang Dong, Yan Peng, Huayan Pu, P. Chiou, W. J. Li, Yu Sun
This paper reports the use of an opto-electrokinetic (OEK) device to measure the specific membrane capacitance (SMC) of malignant human bladder cancer cells (RT4) and benign human urothelial cells (SV-HUV-l). Experimental results, for the first time, show that RT4 cells (n=54) have a significantly larger SMC than SV-HUV-l cells (n=48), 15.8 ± 3.5 mF/m2vs. 12.5 ± 2.3 mF/m2, indicating that SMC could be a potentially useful biomarker for distinguishing malignant and benign human urothelial cells to aid bladder cancer detection.
{"title":"SMC Difference of Normal and Cancerous Human Urothelial Cells Quantified with an Opto-Electrokinetic Device","authors":"Ya-Lan Lin, Na Liu, Yang Yang, Shaorong Xie, Liang Dong, Yan Peng, Huayan Pu, P. Chiou, W. J. Li, Yu Sun","doi":"10.1109/MARSS.2018.8481192","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481192","url":null,"abstract":"This paper reports the use of an opto-electrokinetic (OEK) device to measure the specific membrane capacitance (SMC) of malignant human bladder cancer cells (RT4) and benign human urothelial cells (SV-HUV-l). Experimental results, for the first time, show that RT4 cells (n=54) have a significantly larger SMC than SV-HUV-l cells (n=48), 15.8 ± 3.5 mF/m2vs. 12.5 ± 2.3 mF/m2, indicating that SMC could be a potentially useful biomarker for distinguishing malignant and benign human urothelial cells to aid bladder cancer detection.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123545422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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