Pub Date : 1900-01-01DOI: 10.1163/156856306777924671
M. Sitti, C. Pawashe
Autonomous micromanipulation has been an emerging interest in constructing and assembling micro-objects. Manual assembly and manipulation of small-scale objects through teleoperation is possible; however, autonomy is necessary for large-volume manipulation and manufacturing. In this study, we discuss a two-dimensional autonomous manipulation system, which is based on an optical microscope and a nanoprobe. We demonstrate the manipulation of polystyrene and silica microspheres, which are detected through image processing using the generalized Hough transform. Using an atomic force microscope nanoprobe as an end-effector, microspheres are autonomously pushed to a user-defined configuration. Furthermore, we demonstrate motion planning in micromanipulation by using the Wavefront expansion algorithm, which is necessary in manipulating microspheres without colliding into obstacles. In experiments, we successfully demonstrate the automatic arrangement of 4.5 μm polystyrene and 5 μm silica microspheres into user-defined patterns with an average precision of around 0.5 μm, which is limited by the microscope imaging resolution. This autonomous microparticle arrangement system could be applied to fabricate mold templates for micro/nanoprinting and prototyping micro/nanodevices.
{"title":"Two-dimensional vision-based autonomous microparticle manipulation using a nanoprobe","authors":"M. Sitti, C. Pawashe","doi":"10.1163/156856306777924671","DOIUrl":"https://doi.org/10.1163/156856306777924671","url":null,"abstract":"Autonomous micromanipulation has been an emerging interest in constructing and assembling micro-objects. Manual assembly and manipulation of small-scale objects through teleoperation is possible; however, autonomy is necessary for large-volume manipulation and manufacturing. In this study, we discuss a two-dimensional autonomous manipulation system, which is based on an optical microscope and a nanoprobe. We demonstrate the manipulation of polystyrene and silica microspheres, which are detected through image processing using the generalized Hough transform. Using an atomic force microscope nanoprobe as an end-effector, microspheres are autonomously pushed to a user-defined configuration. Furthermore, we demonstrate motion planning in micromanipulation by using the Wavefront expansion algorithm, which is necessary in manipulating microspheres without colliding into obstacles. In experiments, we successfully demonstrate the automatic arrangement of 4.5 μm polystyrene and 5 μm silica microspheres into user-defined patterns with an average precision of around 0.5 μm, which is limited by the microscope imaging resolution. This autonomous microparticle arrangement system could be applied to fabricate mold templates for micro/nanoprinting and prototyping micro/nanodevices.","PeriodicalId":150257,"journal":{"name":"Journal of Micromechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134262507","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 : 1900-01-01DOI: 10.1163/156856301760132150
T. Sasaya, N. Kawahara, K. Tsuruta
We have been developing an In-pipe Wireless Micro Robot for inspection of the inner surface of pipes, in collaboration with DENSO, Toshiba and SANYO under the Japanese national R&D project 'Micromachine Technology' of METI. The micro robot consists of many devices, a CCD camera for visual inspection, an actuator for locomotion, control circuits for system control, a microwave antenna and a photovoltaic device for energy supply and communication. The robot moves in a 10 mm diameter pipe without wire and observes the inner surface of the pipe. Through the project, the technologies of the component devices and the system have been developed. Several important results have been obtained on both technologies. For the device technologies, high-performance micro component devices have been developed. For the systematization technologies, the functions, simulation, packaging and assembling of the system have been studied. Through the development of the micro robot, we have successfully confirmed the wireless in-pipe locomotion and wireless image data communication of 2 frames per second.
{"title":"In-pipe wireless micro robot","authors":"T. Sasaya, N. Kawahara, K. Tsuruta","doi":"10.1163/156856301760132150","DOIUrl":"https://doi.org/10.1163/156856301760132150","url":null,"abstract":"We have been developing an In-pipe Wireless Micro Robot for inspection of the inner surface of pipes, in collaboration with DENSO, Toshiba and SANYO under the Japanese national R&D project 'Micromachine Technology' of METI. The micro robot consists of many devices, a CCD camera for visual inspection, an actuator for locomotion, control circuits for system control, a microwave antenna and a photovoltaic device for energy supply and communication. The robot moves in a 10 mm diameter pipe without wire and observes the inner surface of the pipe. Through the project, the technologies of the component devices and the system have been developed. Several important results have been obtained on both technologies. For the device technologies, high-performance micro component devices have been developed. For the systematization technologies, the functions, simulation, packaging and assembling of the system have been studied. Through the development of the micro robot, we have successfully confirmed the wireless in-pipe locomotion and wireless image data communication of 2 frames per second.","PeriodicalId":150257,"journal":{"name":"Journal of Micromechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115146754","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 : 1900-01-01DOI: 10.1163/156856301753398154
R. Moser, H. Bleuler, J. Sandtner
A novel frictionless motor-bearing combination, featuring a passive five degrees of freedom (DOF) suspension system is presented in this paper. In conventional frictionless systems, levitation is achieved by means of feedback controlled electromagnetics or electrostatics (active bearings), permanent magnets in combination with displacement (passive bearings) or by superconductive repulsion of permanent magnets. Earnshaw's theorem discards the possibility of passive static magnetic levitation, but by taking advantage of the diamagnetic effect, a passive magnetic system can be stabilized. In the proposed system, all the degrees of freedom of a disc-shaped magnetic rotor, except its rotation around the main axis, are stabilized using the diamagnetic properties of materials such as bismuth and graphite. As the weight of the rotor is compensated with a permanent magnet, the proposed system can make use of the weak diamagnetic repelling forces, presenting the only known principle for 'real' levitation (no energy input) at room temperature. The presented approach leads to very compact energy-saving solutions. The principle of diamagnetic levitation is well known and understood. The presented experimental work adds radial stiffness to the classic three degrees of freedom suspension and powers the rotor using an induction motor. The realized motor is hardly bigger than one cubic centimeter and turns with up to 800 rpm. This paper intends to draw attention to this uncommon method of levitation and to show that it could be used to design micro-mechatronical actuators.
{"title":"Diamagnetic suspension system for small rotors","authors":"R. Moser, H. Bleuler, J. Sandtner","doi":"10.1163/156856301753398154","DOIUrl":"https://doi.org/10.1163/156856301753398154","url":null,"abstract":"A novel frictionless motor-bearing combination, featuring a passive five degrees of freedom (DOF) suspension system is presented in this paper. In conventional frictionless systems, levitation is achieved by means of feedback controlled electromagnetics or electrostatics (active bearings), permanent magnets in combination with displacement (passive bearings) or by superconductive repulsion of permanent magnets. Earnshaw's theorem discards the possibility of passive static magnetic levitation, but by taking advantage of the diamagnetic effect, a passive magnetic system can be stabilized. In the proposed system, all the degrees of freedom of a disc-shaped magnetic rotor, except its rotation around the main axis, are stabilized using the diamagnetic properties of materials such as bismuth and graphite. As the weight of the rotor is compensated with a permanent magnet, the proposed system can make use of the weak diamagnetic repelling forces, presenting the only known principle for 'real' levitation (no energy input) at room temperature. The presented approach leads to very compact energy-saving solutions. The principle of diamagnetic levitation is well known and understood. The presented experimental work adds radial stiffness to the classic three degrees of freedom suspension and powers the rotor using an induction motor. The realized motor is hardly bigger than one cubic centimeter and turns with up to 800 rpm. This paper intends to draw attention to this uncommon method of levitation and to show that it could be used to design micro-mechatronical actuators.","PeriodicalId":150257,"journal":{"name":"Journal of Micromechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125983273","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 : 1900-01-01DOI: 10.1163/156856306777544952
Singaperumal, S. Hiremath, R. Kumar
In the present paper, an attempt has been made to simulate the steady-state operation of the jet pipe Electro-Hydraulic ServoValve (EHSV) using the Finite Element Method (FEM). The jet pipe servovalve has two stages and consists of two main assemblies: first-stage torque motor assembly and second-stage valve assembly. Between the first and second stage there is a mechanical feedback to stabilize the valve operation. Each assembly has various delicate and precise components. The finite element analysis has been carried out on jet pipe and feedback spring assembly. The analysis shows that the stiffness of flexure tube and feedback spring assembly plays the major role in achieving steady-state valve operation. The stiffness of these components is obtained through the FEM and these results are validated with experiment. The commercial ABAQUS finite element code has been used for the simulation. The mathematical model of the jet pipe EHSV has been developed and simulated using MATLAB to study the spool dynamics with the main emphasis on the steady-state valve operation. The required simulation parameters, like moment of inertia, stiffness of the components and lever arm length. are obtained from the FEM.
{"title":"Steady-state analysis of a precision hydraulic flow control servovalve using the finite element method","authors":"Singaperumal, S. Hiremath, R. Kumar","doi":"10.1163/156856306777544952","DOIUrl":"https://doi.org/10.1163/156856306777544952","url":null,"abstract":"In the present paper, an attempt has been made to simulate the steady-state operation of the jet pipe Electro-Hydraulic ServoValve (EHSV) using the Finite Element Method (FEM). The jet pipe servovalve has two stages and consists of two main assemblies: first-stage torque motor assembly and second-stage valve assembly. Between the first and second stage there is a mechanical feedback to stabilize the valve operation. Each assembly has various delicate and precise components. The finite element analysis has been carried out on jet pipe and feedback spring assembly. The analysis shows that the stiffness of flexure tube and feedback spring assembly plays the major role in achieving steady-state valve operation. The stiffness of these components is obtained through the FEM and these results are validated with experiment. The commercial ABAQUS finite element code has been used for the simulation. The mathematical model of the jet pipe EHSV has been developed and simulated using MATLAB to study the spool dynamics with the main emphasis on the steady-state valve operation. The required simulation parameters, like moment of inertia, stiffness of the components and lever arm length. are obtained from the FEM.","PeriodicalId":150257,"journal":{"name":"Journal of Micromechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131448738","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 : 1900-01-01DOI: 10.1163/156856301760132141
Steven E. Eskridge, J. Hurtado, R. Byrne, J. Harrington, E. Heller, D. Adkins
Cooperating robots have the potential to achieve tasks more quickly and with a higher probability of success than a single robot acting alone. This paper describes a system of miniature mobile robots and the algorithms used to demonstrate cooperative plume tracking and source localization. The robots share sensor information, but individually decide a course of action based on their estimate of the plume field. This algorithm was implemented on a group of miniature mobile robots capable of measuring temperature plumes. Experimental results are presented for a representative test run. We also describe a 'next-generation' miniature mobile robot under development that occupies only 0.25 cubic inches in volume.
{"title":"Miniature mobile robots for plume tracking and source localization research","authors":"Steven E. Eskridge, J. Hurtado, R. Byrne, J. Harrington, E. Heller, D. Adkins","doi":"10.1163/156856301760132141","DOIUrl":"https://doi.org/10.1163/156856301760132141","url":null,"abstract":"Cooperating robots have the potential to achieve tasks more quickly and with a higher probability of success than a single robot acting alone. This paper describes a system of miniature mobile robots and the algorithms used to demonstrate cooperative plume tracking and source localization. The robots share sensor information, but individually decide a course of action based on their estimate of the plume field. This algorithm was implemented on a group of miniature mobile robots capable of measuring temperature plumes. Experimental results are presented for a representative test run. We also describe a 'next-generation' miniature mobile robot under development that occupies only 0.25 cubic inches in volume.","PeriodicalId":150257,"journal":{"name":"Journal of Micromechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133742011","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 : 1900-01-01DOI: 10.1163/156856304773954296
B. Cahill, D. Haefliger, A. Stemmer
Rapid fabrication of 1-5-μm-wide aluminum electrodes by a flexible, inexpensive and high-resolution process is demonstrated. The electrodes are produced by scanning a cw focused laser beam of 488 nm wavelength over an aluminum thin film of 50-100 nm thickness immersed in pure water and removing the metal by local low-power laser-thermal corrosion. The process is performed on a set-up operating in common laboratory conditions. The aluminum patterning requires only several milliwatts of laser light, which allows the use of inexpensive light sources and makes it especially suitable for structuring metal films on heat-sensitive materials such as polymers. Interdigitated microelectrode arrays on poly(dimethylsiloxane) and SU-8 resist are fabricated without damaging the substrate. By taking advantage of the intrinsic 3D processing capability of laser machining and thick film techniques developed for polymer-based microsystems, multilayered electrode structures in SU-8 are produced. Interconnections between the different electrode layers are realized via holes drilled through the intermediate polymer by laser ablation in air and subsequent metallization. The rapid prototyping of an asymmetric electrode array for electrohydrodynamic pumping within 4 h is demonstrated. Successful testing of the device by pumping of water provided evidence of correct electrode operation.
{"title":"Fabrication of aluminum electrodes by water and light","authors":"B. Cahill, D. Haefliger, A. Stemmer","doi":"10.1163/156856304773954296","DOIUrl":"https://doi.org/10.1163/156856304773954296","url":null,"abstract":"Rapid fabrication of 1-5-μm-wide aluminum electrodes by a flexible, inexpensive and high-resolution process is demonstrated. The electrodes are produced by scanning a cw focused laser beam of 488 nm wavelength over an aluminum thin film of 50-100 nm thickness immersed in pure water and removing the metal by local low-power laser-thermal corrosion. The process is performed on a set-up operating in common laboratory conditions. The aluminum patterning requires only several milliwatts of laser light, which allows the use of inexpensive light sources and makes it especially suitable for structuring metal films on heat-sensitive materials such as polymers. Interdigitated microelectrode arrays on poly(dimethylsiloxane) and SU-8 resist are fabricated without damaging the substrate. By taking advantage of the intrinsic 3D processing capability of laser machining and thick film techniques developed for polymer-based microsystems, multilayered electrode structures in SU-8 are produced. Interconnections between the different electrode layers are realized via holes drilled through the intermediate polymer by laser ablation in air and subsequent metallization. The rapid prototyping of an asymmetric electrode array for electrohydrodynamic pumping within 4 h is demonstrated. Successful testing of the device by pumping of water provided evidence of correct electrode operation.","PeriodicalId":150257,"journal":{"name":"Journal of Micromechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131158400","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 : 1900-01-01DOI: 10.1163/156856306777924653
P. Kallio, J. Kuncova-Kallio
This paper is divided into two parts. The first part describes the current status and the general challenges of developing automatic microrobotics systems for microinjection of adherent mammalian cells. The discussion covers applications and the review and challenges of the components of a capillary pressure microinjection system: a micromanipulator, a microinjector, a microcapillary, a vision system and an environment control system. The second part of the paper describes the research performed on the automatic capillary pressure microinjection at Tampere University of Technology. The advanced microinjection system includes two micromanipulators, a microinjector, a vision system and a control system. The control system comprises motion control schemes for the micromanipulators to accurately position a microcapillary, to precisely penetrate a cell membrane and to deliver information on the injection to the operator. A novel injection guidance system, being part of the control system, comprises an impedance measurement device and a user interface which provide information on the detection of the capillary–membrane contact, capillary clogging and capillary breakage. Results show a remarkable increase of the injection success from 40 to 65% when the injection guidance system is used.
{"title":"Capillary Pressure Microinjection of Living Adherent Cells: Challenges in Automation","authors":"P. Kallio, J. Kuncova-Kallio","doi":"10.1163/156856306777924653","DOIUrl":"https://doi.org/10.1163/156856306777924653","url":null,"abstract":"This paper is divided into two parts. The first part describes the current status and the general challenges of developing automatic microrobotics systems for microinjection of adherent mammalian cells. The discussion covers applications and the review and challenges of the components of a capillary pressure microinjection system: a micromanipulator, a microinjector, a microcapillary, a vision system and an environment control system. The second part of the paper describes the research performed on the automatic capillary pressure microinjection at Tampere University of Technology. The advanced microinjection system includes two micromanipulators, a microinjector, a vision system and a control system. The control system comprises motion control schemes for the micromanipulators to accurately position a microcapillary, to precisely penetrate a cell membrane and to deliver information on the injection to the operator. A novel injection guidance system, being part of the control system, comprises an impedance measurement device and a user interface which provide information on the detection of the capillary–membrane contact, capillary clogging and capillary breakage. Results show a remarkable increase of the injection success from 40 to 65% when the injection guidance system is used.","PeriodicalId":150257,"journal":{"name":"Journal of Micromechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126155566","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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