Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481185
Afraa Obaid Mubarak AlMehairi, S. Ramesh, Amber Childs-Santos, Ali Hillal-Alnaqbi, Ibeawuchi Anokam, F. Alnaimat, J. Buie, B. Mathew
This document presents the model-based feasibility study of a dielectrophoresis based microfluidic device for purposes of label-free separation of same microparticles of different diameters. The microfluidic device consists of two sections - focusing and separation section. The focusing section has two a set of interdigitated transducer electrodes located next to each of the sidewalls. The focusing section subjects all microparticles to negative-dielectrophoresis and focuses the micro-scale entities at the middle of the microchannel. The separation section is downstream of the focusing section and has just one set of interdigitated transducer electrodes. This section subjects one type of microparticle to positive-dielectrophoresis and the other type of microparticle to negative-dielectrophoresis leading to different lateral displacements leading to achieve separation. For purposes of demonstration, a heterogeneous mixture of polystyrene microparticles (5 μm and 10 μm), suspended in water, is separated into two homogeneous samples.
{"title":"Dielectrophoretic Microfluidic Device for Size-Based Separation of Microparticles: Feasibility Study","authors":"Afraa Obaid Mubarak AlMehairi, S. Ramesh, Amber Childs-Santos, Ali Hillal-Alnaqbi, Ibeawuchi Anokam, F. Alnaimat, J. Buie, B. Mathew","doi":"10.1109/MARSS.2018.8481185","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481185","url":null,"abstract":"This document presents the model-based feasibility study of a dielectrophoresis based microfluidic device for purposes of label-free separation of same microparticles of different diameters. The microfluidic device consists of two sections - focusing and separation section. The focusing section has two a set of interdigitated transducer electrodes located next to each of the sidewalls. The focusing section subjects all microparticles to negative-dielectrophoresis and focuses the micro-scale entities at the middle of the microchannel. The separation section is downstream of the focusing section and has just one set of interdigitated transducer electrodes. This section subjects one type of microparticle to positive-dielectrophoresis and the other type of microparticle to negative-dielectrophoresis leading to different lateral displacements leading to achieve separation. For purposes of demonstration, a heterogeneous mixture of polystyrene microparticles (5 μm and 10 μm), suspended in water, is separated into two homogeneous samples.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"73 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":"126408260","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.2018.8481160
K. Haddadi, P. Polovodov, D. Théron, G. Dambrine
Near-field scanning microwave microscopy (NSMM) has to face several issues for the establishment of traceable and quantitative data. In particular, at the nanoscale, the wavelength of operation in the microwave regime appears disproportionate compared to the size of the nano-object under investigation. Incidentally, the microwave characterization results in poor electrical sensitivity as the volume of the wave/material interaction is limited to a fraction of the wavelength. In addition, the definition of nanoscale microwave impedance standards requires accurate knowledge of the material and dimensional properties at such scale. In this effort, a quantitative error analysis performed on micrometric metal oxide semiconductor (MOS) structures is proposed. In particular, atomic force microscopy (AFM) image together with the magnitude and phase-shift images of the complex microwave reflection coefficient using a Keysight™'s LS5600 AFM interfaced directly with a vector network analyzer, without electrical matching strategy, are performed around 9.5GHz. From a detailed analysis of the raw data, completed with a FEM-based electromagnetic modeling, quantitative capacitances extraction and system limitations are exemplary shown.
{"title":"Quantitative Error Analysis in Near-Field Scanning Microwave Microscopy","authors":"K. Haddadi, P. Polovodov, D. Théron, G. Dambrine","doi":"10.1109/MARSS.2018.8481160","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481160","url":null,"abstract":"Near-field scanning microwave microscopy (NSMM) has to face several issues for the establishment of traceable and quantitative data. In particular, at the nanoscale, the wavelength of operation in the microwave regime appears disproportionate compared to the size of the nano-object under investigation. Incidentally, the microwave characterization results in poor electrical sensitivity as the volume of the wave/material interaction is limited to a fraction of the wavelength. In addition, the definition of nanoscale microwave impedance standards requires accurate knowledge of the material and dimensional properties at such scale. In this effort, a quantitative error analysis performed on micrometric metal oxide semiconductor (MOS) structures is proposed. In particular, atomic force microscopy (AFM) image together with the magnitude and phase-shift images of the complex microwave reflection coefficient using a Keysight™'s LS5600 AFM interfaced directly with a vector network analyzer, without electrical matching strategy, are performed around 9.5GHz. From a detailed analysis of the raw data, completed with a FEM-based electromagnetic modeling, quantitative capacitances extraction and system limitations are exemplary shown.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"49 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":"133921227","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.2018.8481144
Eric J. Leaman, Brian Geuther, B. Behkam
Engineering microrobotic systems using a bio-hybrid approach that couples synthetic materials with live cells is a powerful approach to address some of the challenges in micro/nanotechnology such as providing an on-board power source and efficient means of locomotion. In the last decade, a number of centralized control strategies dependent on native biological mechanisms have been demonstrated; however, decentralized cooperative control of a swarm of bio-hybrid microrobots has not been shown before. In this work, we impart bacteria with engineered biological circuits to facilitate agent-agent communication and enable predictable and robust cooperative control of a network of bacteria-based Biohybrid microrobots. We show a hybrid control strategy wherein a centralized control scheme is used to direct migration and a decentralized control scheme enables the agents to independently coordinate a desired behavior (fluorescent protein expression). We use an experimentally-validated agent-based computational model of the system to demonstrate the utility of the approach. We show that spatial organization plays a significant role in the response dynamics and explore how the system could be tuned for particular applications. The model will serve as an essential tool for predictive design of bio-hybrid microrobotic swarms with a tunable and robust response.
{"title":"Hybrid Centralized/Decentralized Control of Bacteria-Based Bio-Hybrid Microrobots","authors":"Eric J. Leaman, Brian Geuther, B. Behkam","doi":"10.1109/MARSS.2018.8481144","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481144","url":null,"abstract":"Engineering microrobotic systems using a bio-hybrid approach that couples synthetic materials with live cells is a powerful approach to address some of the challenges in micro/nanotechnology such as providing an on-board power source and efficient means of locomotion. In the last decade, a number of centralized control strategies dependent on native biological mechanisms have been demonstrated; however, decentralized cooperative control of a swarm of bio-hybrid microrobots has not been shown before. In this work, we impart bacteria with engineered biological circuits to facilitate agent-agent communication and enable predictable and robust cooperative control of a network of bacteria-based Biohybrid microrobots. We show a hybrid control strategy wherein a centralized control scheme is used to direct migration and a decentralized control scheme enables the agents to independently coordinate a desired behavior (fluorescent protein expression). We use an experimentally-validated agent-based computational model of the system to demonstrate the utility of the approach. We show that spatial organization plays a significant role in the response dynamics and explore how the system could be tuned for particular applications. The model will serve as an essential tool for predictive design of bio-hybrid microrobotic swarms with a tunable and robust response.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"19 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":"123045540","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.2018.8481183
Jin-Su Hong, Jung-Ik Ha
_ This paper proposes a current reference projection method of magnetic manipulation system that controls a magnetized agent, so-called micro-robot. This method reduces the current variances between current and target current based on the actuation matrix characteristic. Reducing the current variation also reduces the settling time of magnetic field and gradient in magnetic manipulation system under voltage limitation. Because magnetic field control directly affects micro-robot control, the proposed method has an advantage in terms of securing micro-robot control bandwidth under voltage limit condition. This paper also discusses efficiency improvement of the proposed method in steady state. The target current of each coil is calculated on PC and controlled by independent full bridge inverters. The advantage of the proposed method was verified by simulation results.
{"title":"Current Reference Projection Method for Securing Micro-Robot Control Bandwidth Under Voltage Limit Condition","authors":"Jin-Su Hong, Jung-Ik Ha","doi":"10.1109/MARSS.2018.8481183","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481183","url":null,"abstract":"_ This paper proposes a current reference projection method of magnetic manipulation system that controls a magnetized agent, so-called micro-robot. This method reduces the current variances between current and target current based on the actuation matrix characteristic. Reducing the current variation also reduces the settling time of magnetic field and gradient in magnetic manipulation system under voltage limitation. Because magnetic field control directly affects micro-robot control, the proposed method has an advantage in terms of securing micro-robot control bandwidth under voltage limit condition. This paper also discusses efficiency improvement of the proposed method in steady state. The target current of each coil is calculated on PC and controlled by independent full bridge inverters. The advantage of the proposed method was verified by simulation results.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"29 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":"123240581","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.2018.8481232
Juan Cui, Huaping Wang, Qing Shi, Jianing Li, Zhiqiang Zheng, Tao Sun, Qiang Huang, T. Fukuda
Fabrication of cellular microtissues in vitro that reproduce physiology of human liver has shown great potential and demand in clinical and biomedical research. However, creating tissue-engineered constructs in vitro with both organ-like geometry and biological functions presents unique challenge attribute to complex structure and function of human liver. Here, we have developed photopattern and microrobotic manipulation for fabrication of cellular microtissue in vitro as a substitution of liver lobule as well as liver functions. Poly (ethylene) glycol diacrylate (PEGDA) hydrogel containing hepatocytes are introduced into microfluidic channel to produce cell encapsulated 2D microstructures with lobule-like pattern by photocrosslinking. Microrobotic manipulation is developed for 3D assembly of 2D microstructures into 3D microtissues based on liquid force. To form an integration with lobule-like structure, randomly oriented 2D microstructures are aligned into regular shape by self-alignment process based on hydrophilic-hydrophobic interactions. After the 2D fabrication and 3D assembly process, cells can proliferate and spread in PEGDA hydrogel. During long-term culture, cells perform high viability in both 2D microstructures and 3D microtissues. Albumin secretion of hepatocytes encapsulating in microtissues maintain during the culture period. It indicates that hepatocytes can keep high viability and some liver functions in these microtissues which providing a potential demonstration for biomedical research in the future.
{"title":"Assembly of Cellular Microstructures into Lobule-Like 3D Microtissues Based on Microrobotic Manipulation* Research supported by the Beijing Natural Science Foundation under Grant 4164099and the National Natural Science Foundation of China under grants 61603044and 61520106011.","authors":"Juan Cui, Huaping Wang, Qing Shi, Jianing Li, Zhiqiang Zheng, Tao Sun, Qiang Huang, T. Fukuda","doi":"10.1109/MARSS.2018.8481232","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481232","url":null,"abstract":"Fabrication of cellular microtissues in vitro that reproduce physiology of human liver has shown great potential and demand in clinical and biomedical research. However, creating tissue-engineered constructs in vitro with both organ-like geometry and biological functions presents unique challenge attribute to complex structure and function of human liver. Here, we have developed photopattern and microrobotic manipulation for fabrication of cellular microtissue in vitro as a substitution of liver lobule as well as liver functions. Poly (ethylene) glycol diacrylate (PEGDA) hydrogel containing hepatocytes are introduced into microfluidic channel to produce cell encapsulated 2D microstructures with lobule-like pattern by photocrosslinking. Microrobotic manipulation is developed for 3D assembly of 2D microstructures into 3D microtissues based on liquid force. To form an integration with lobule-like structure, randomly oriented 2D microstructures are aligned into regular shape by self-alignment process based on hydrophilic-hydrophobic interactions. After the 2D fabrication and 3D assembly process, cells can proliferate and spread in PEGDA hydrogel. During long-term culture, cells perform high viability in both 2D microstructures and 3D microtissues. Albumin secretion of hepatocytes encapsulating in microtissues maintain during the culture period. It indicates that hepatocytes can keep high viability and some liver functions in these microtissues which providing a potential demonstration for biomedical research in the future.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"31 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":"114531166","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.2018.8481188
Nianfeng F. Wang, Chaoyu Cui, Bicheng Chen, Xianmin Zhang
Dielectric elastomer actuators (DEAs) is an emerging soft actuator with attributes of flexibility, large strain, and high energy density. Bistable mechanisms have two force-free stable equilibrium positions in their range of motion, which can hold for a long time without energy consumption. In the present work, a design of bistable system is proposed, consisting of a cross-like shape buckling beam and two conical dielectric elastomer actuators. Analytical model has been developed to analyze the electromechanical coupling behavior of dielectric elastomer and the force-displacement relationship of the cross-like shape buckling beam. The working principle of the bistable conical DEAs is explained in terms of force equilibrium method and internal energy of the system. A bistable dielectric elastomer actuator with a switching force of 0.05 N and a stroke of 5.65 mm is developed to validate the analytical model of the conical DEAs, pre-compressed bistable cross-like beam, and the design.
{"title":"Design and Analysis of Bistable Dielectric Elastomer Actuator with Buckling Beam","authors":"Nianfeng F. Wang, Chaoyu Cui, Bicheng Chen, Xianmin Zhang","doi":"10.1109/MARSS.2018.8481188","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481188","url":null,"abstract":"Dielectric elastomer actuators (DEAs) is an emerging soft actuator with attributes of flexibility, large strain, and high energy density. Bistable mechanisms have two force-free stable equilibrium positions in their range of motion, which can hold for a long time without energy consumption. In the present work, a design of bistable system is proposed, consisting of a cross-like shape buckling beam and two conical dielectric elastomer actuators. Analytical model has been developed to analyze the electromechanical coupling behavior of dielectric elastomer and the force-displacement relationship of the cross-like shape buckling beam. The working principle of the bistable conical DEAs is explained in terms of force equilibrium method and internal energy of the system. A bistable dielectric elastomer actuator with a switching force of 0.05 N and a stroke of 5.65 mm is developed to validate the analytical model of the conical DEAs, pre-compressed bistable cross-like beam, and the design.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"26 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":"125516364","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.2018.8481199
Danish Hussain, Wen Yongbing, Hui Xie
Sidewall imaging of micro and nano structures is essential for critical dimensional metrology in the semiconductor industry. Atomic force microscope is an important sidewall imaging instrument due to its three dimensional imaging capability, high accuracy and ultra high resolution. We propose an AFM method for sidewall imaging of high step sidewalls. A tuning fork force sensor with a tungsten tip is tilted at a suitable angle (θ) to access the sidewall. Sidewalls of a micro electromechanical systems (MEME) structure fabricated by deep reactive ion etching (DIRE) process is scanned and sidewall roughness is measured.
微纳米结构的侧壁成像在半导体工业的关键尺寸测量中是必不可少的。原子力显微镜具有三维成像能力、高精度和超高分辨率，是一种重要的侧壁成像仪器。提出了一种用于高台阶侧壁成像的原子力显微镜方法。带钨尖的音叉力传感器以合适的角度(θ)倾斜以接触侧壁。对采用深度反应离子蚀刻(deep reactive ion etching, DIRE)工艺制备的微机电系统(MEME)结构的侧壁进行了扫描，并测量了侧壁粗糙度。
{"title":"Sidewall Imaging of Microstructures with a Tilted Quartz Tuning Fork (QTF) Force Sensor","authors":"Danish Hussain, Wen Yongbing, Hui Xie","doi":"10.1109/MARSS.2018.8481199","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481199","url":null,"abstract":"Sidewall imaging of micro and nano structures is essential for critical dimensional metrology in the semiconductor industry. Atomic force microscope is an important sidewall imaging instrument due to its three dimensional imaging capability, high accuracy and ultra high resolution. We propose an AFM method for sidewall imaging of high step sidewalls. A tuning fork force sensor with a tungsten tip is tilted at a suitable angle (θ) to access the sidewall. Sidewalls of a micro electromechanical systems (MEME) structure fabricated by deep reactive ion etching (DIRE) process is scanned and sidewall roughness is measured.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"264 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":"121289130","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.2018.8481149
K. Kong, Junhui Law, Meng Chen, Zan Suo, Boliang Jia, V. Roy, Ho-yin Chan, W. Li
This paper reports a novel capacitive pressure-pulse sensor array based on drop-dispensed graphene oxide (GO) sensing elements. The utilization of drop dispensing technology enables us a low cost, flexible and precise method to fabricate multiple capacitive sensing elements. The printed droplets volume (GO aqueous dispersion) were around 33.5 to 65.4 pL with droplet diameter ranging 40 to 50um. The size (i.e., footprint and dielectric thickness) of a sensing element can be controlled by the total GO dispersed. In this paper, we report on the fabrication process and preliminary characterization of these printed GO capacitive sensors. Thus far, we have shown that these sensors have a sensitivity of ~10−3kPa-1, with a relative permittivity of the printed GO being ~6 to 7 (measured at a frequency of 600kHz). We have also demonstrated that the printed sensing elements can be used for human pulse sensing, which means that these sensors could potentially be used in wearable electronics and healthcare applications.
{"title":"Micro-Dispensing of Graphene Oxide Based Capacitive Tactile Sensors for Human Pressure-Pulse Detection","authors":"K. Kong, Junhui Law, Meng Chen, Zan Suo, Boliang Jia, V. Roy, Ho-yin Chan, W. Li","doi":"10.1109/MARSS.2018.8481149","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481149","url":null,"abstract":"This paper reports a novel capacitive pressure-pulse sensor array based on drop-dispensed graphene oxide (GO) sensing elements. The utilization of drop dispensing technology enables us a low cost, flexible and precise method to fabricate multiple capacitive sensing elements. The printed droplets volume (GO aqueous dispersion) were around 33.5 to 65.4 pL with droplet diameter ranging 40 to 50um. The size (i.e., footprint and dielectric thickness) of a sensing element can be controlled by the total GO dispersed. In this paper, we report on the fabrication process and preliminary characterization of these printed GO capacitive sensors. Thus far, we have shown that these sensors have a sensitivity of ~10−3kPa-1, with a relative permittivity of the printed GO being ~6 to 7 (measured at a frequency of 600kHz). We have also demonstrated that the printed sensing elements can be used for human pulse sensing, which means that these sensors could potentially be used in wearable electronics and healthcare applications.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"29 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":"125667056","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.2018.8481163
Sambeeta Das, Elizabeth E. Hunter, Nicholas A. DeLateur, E. Steager, Ron Weiss, Vijay R. Kumar
_Magnetically-actuated microrobots have many potential applications in biological environments. Microrobots have many uses in cellular environments since they can be remotely actuated and precisely manipulated in biochemical fluids. Most cellular phenomena depend on biochemical signals. Therefore, various techniques have been developed for encapsulation and release of drugs, nutrients or other cargo using microrobots. However, localized targeting without payload leakage during transport is challenging. In this work, we present a light-controlled delivery system integrated with magnetic microrobots which overcomes this challenge. We synthesize a photolabile linker which releases a cell-to-cell signaling molecule when exposed to light. This system is integrated with magnetic micro-robots, which can be steered to target locations in the cell culture. We demonstrate that gene expression in engineered bacterial cells is successfully activated when the signaling molecule is cleaved. This proposed method can be used for wide-ranging applications in the fields of engineering, biology, and medicine, in which the ability to target and release molecules on-demand to a particular location is important.
{"title":"Controlled Delivery of Signaling Molecules Using Magnetic Microrobots","authors":"Sambeeta Das, Elizabeth E. Hunter, Nicholas A. DeLateur, E. Steager, Ron Weiss, Vijay R. Kumar","doi":"10.1109/MARSS.2018.8481163","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481163","url":null,"abstract":"_Magnetically-actuated microrobots have many potential applications in biological environments. Microrobots have many uses in cellular environments since they can be remotely actuated and precisely manipulated in biochemical fluids. Most cellular phenomena depend on biochemical signals. Therefore, various techniques have been developed for encapsulation and release of drugs, nutrients or other cargo using microrobots. However, localized targeting without payload leakage during transport is challenging. In this work, we present a light-controlled delivery system integrated with magnetic microrobots which overcomes this challenge. We synthesize a photolabile linker which releases a cell-to-cell signaling molecule when exposed to light. This system is integrated with magnetic micro-robots, which can be steered to target locations in the cell culture. We demonstrate that gene expression in engineered bacterial cells is successfully activated when the signaling molecule is cleaved. This proposed method can be used for wide-ranging applications in the fields of engineering, biology, and medicine, in which the ability to target and release molecules on-demand to a particular location is important.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"35 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":"133428270","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.2018.8481174
Linlin Li, Guoying Gu, Limin Zhu
In this paper, the modified repetitive control (MRC) approach is developed to improve the tracking performance of piezoelectric tube scanner in Atomic Force Microscope for Lissajous trajectories, which has the capability to reject the periodic tracking errors induced by hysteresis nonlinearity and the cross-coupling effect. The fundamental of Lissajous trajectory and the MRC technique are presented initially. As the plug-in feature of MRC scheme, a proportional-integral (PI) controller is also designed in feedback loop for realizing the high-precision motion control. The tracking performance of the scanner with PI+MRC is compared with the conventional PI controller to show the effectiveness of the developed method for Lissajous trajectory tracking. The desired Lissajous trajectory and the actual scan trajectory are additionally demonstrated for the scanner with different control strategies. According to the experiment results, the MRC-based technique improves the tracking performance significantly, in which the root mean square tracking error is reduced from 4328nm to 63.3nm for the scanning frequency of 25-Hz.
{"title":"Motion Control of the Piezoelectric Tube Scanner for Lissajous Trajectories with Modified Repetitive Control","authors":"Linlin Li, Guoying Gu, Limin Zhu","doi":"10.1109/MARSS.2018.8481174","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481174","url":null,"abstract":"In this paper, the modified repetitive control (MRC) approach is developed to improve the tracking performance of piezoelectric tube scanner in Atomic Force Microscope for Lissajous trajectories, which has the capability to reject the periodic tracking errors induced by hysteresis nonlinearity and the cross-coupling effect. The fundamental of Lissajous trajectory and the MRC technique are presented initially. As the plug-in feature of MRC scheme, a proportional-integral (PI) controller is also designed in feedback loop for realizing the high-precision motion control. The tracking performance of the scanner with PI+MRC is compared with the conventional PI controller to show the effectiveness of the developed method for Lissajous trajectory tracking. The desired Lissajous trajectory and the actual scan trajectory are additionally demonstrated for the scanner with different control strategies. According to the experiment results, the MRC-based technique improves the tracking performance significantly, in which the root mean square tracking error is reduced from 4328nm to 63.3nm for the scanning frequency of 25-Hz.","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":"132156239","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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