2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)最新文献_第2页

High speed operation of the composite shape memory effect microactuator: computer modelling and experiment 复合形状记忆效应微致动器的高速运行:计算机建模与实验

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870508

P. Lega, Sergey R. Romanov, A. Orlov, A. Kartsev, A.V. Prokunin, Nikita Yu. Kataev, V. Koledov

{"title":"High speed operation of the composite shape memory effect microactuator: computer modelling and experiment","authors":"P. Lega, Sergey R. Romanov, A. Orlov, A. Kartsev, A.V. Prokunin, Nikita Yu. Kataev, V. Koledov","doi":"10.1109/MARSS55884.2022.9870508","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870508","url":null,"abstract":"the kinetic properties and high-speed processes during phase transformations and related effects of giant deformations in micro- and nanosamples of functional nanomaterials in alternating electric and thermal fields have been studied. Theoretically and experimentally studied the processes of controlled deformation (activation) and heat distribution at small sample sizes, in which the manifestation of such phenomena as thermoelastic martensitic phase transition and associated shape memory effect (SME) is possible. Using the focused ion beam method, samples of composite nanotweezers based on the Ti2NiCu alloy with SME were created. A computing model of the speedwork of a composite actuator has been constructed and the dependence of the maximum activation frequency on the linear dimensions of the micro-actuator has been determined. An experimental study of the speedwork of the microactuator was carried out using scanning electron microscopy. The activation of the microactuator was achieved by heating by passing electric current pulses through it. The operation of the microactuator at frequencies up to 8 kHz is demonstrated. A design of the nanotweezers has been created, which for the first time makes it possible to work with thermal drift almost zero (a few tens nanometers), which is a very important aspect in the three-dimensional manipulation of the nanoobjects.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"197 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115290349","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}

引用次数: 3

Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles 机器人电磁针对两个相同粒子的同时和独立微操作

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870468

Oğulcan Işıtman, Hakan Kandemir, G. Alcan, Zoran M Cenev, Quan Zhou

引用次数: 0

Data-Driven Feedforward Hysteresis Compensation with Genetic Algorithm for Atomic Force Microscope* 基于遗传算法的原子力显微镜数据驱动前馈迟滞补偿*

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870479

Navid Asmari, Mustafa Kangül, Santiago H. Andany, A. Karimi, G. Fantner

{"title":"Data-Driven Feedforward Hysteresis Compensation with Genetic Algorithm for Atomic Force Microscope*","authors":"Navid Asmari, Mustafa Kangül, Santiago H. Andany, A. Karimi, G. Fantner","doi":"10.1109/MARSS55884.2022.9870479","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870479","url":null,"abstract":"Nonlinear dynamics of piezo actuators such as hysteresis, distort the Atomic Force Microscopy (AFM) images as they adversely affect the accuracy of the nano-positioning setup. To compensate for the effects of hysteresis on lateral scanner actuators of AFM, a data-driven feedforward controller design algorithm is proposed. The pair of forward and backward images of a sample are used to extract a mapping between the trace and retrace motion of the actuator. A model corresponding to the input-output mapping of the actuator is defined with a set of unknown parameters. The values of these parameters, which shape the hysteresis curves of the actuator, are optimized through defining and solving an optimization problem. A genetic algorithm is utilized as a tool to look for the optimal values. The hysteresis mapping model is then implemented in the form of an inversion-based feedforward controller to correct the scan waveforms and get matching forward and backward images of the sample. The proposed sensor-less data-driven method is easy to implement as it does not depend on the instrument, the sample under study, or the imaging properties.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"12 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133831192","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}

引用次数: 0

Forced Wetting by Ion Implantation for Liquid Nanoelectronics 离子注入在液体纳米电子学中的强制润湿

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870249

F. V. von Kleist-Retzow, S. Fatikow

引用次数: 0

Optimal design of high bandwidth piezo-based nanopositioners employing bridge-type displacement amplifiers * 采用桥式位移放大器的高带宽压电纳米位移器的优化设计*

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870469

S. Lavanya, G. Jayanth

{"title":"Optimal design of high bandwidth piezo-based nanopositioners employing bridge-type displacement amplifiers *","authors":"S. Lavanya, G. Jayanth","doi":"10.1109/MARSS55884.2022.9870469","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870469","url":null,"abstract":"Piezo-based nanopositioners are widely employed in precision positioning applications. This paper proposes the design, modeling, and optimization of high bandwidth nanopositioner, whose design reduces the effect of the mass of the sample on its bandwidth and achieves greater bandwidth than a piezo actuator of the same range. The nanopositioner’s range is improved by employing bridge-type displacement amplifiers, while its bandwidth is improved by minimizing the inertial loading of the sample on each of the parallelly connected amplifiers. An analytical model is developed, and the closed-form expressions for amplification ratio and bandwidth of nanopositioner are derived and then validated using finite element analysis. The results of amplification ratio and bandwidth of the positioner match within an average error of 3%. Finally, the optimal number of amplifiers and their corresponding tilt angle required to achieve the maximum bandwidth for the desired positioning range is discussed. It is shown that as the range increases, higher bandwidths can be achieved with the proposed design. In particular, for the 100 μm range, the positioner’s bandwidth is improved by a factor of 6.5 compared to just a piezo actuator moving the same sample.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124464942","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}

引用次数: 0

Magnetically Controlled Microfluidic Channels 磁控微流体通道

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870465

Ondřej Sodomka, Vojtěch Skřivan, Kateřina Jozová, F. Mach

引用次数: 0

Cell Focusing and Rotation by a Planar Optoelectronic Tweezers 平面光电镊的细胞聚焦和旋转

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870458

Chunyuan Gan, Jiaying Zhang, Jiawei Zhao, Shuzhang Liang, Yiming Ji, Lin Feng

引用次数: 0

Noncontact displacement sensing with high bandwidth and subnanometer resolution based on squeeze film damping effect 基于挤压膜阻尼效应的高带宽亚纳米分辨率非接触位移传感

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870502

Shenghang Zhai, Jialin Shi, Peng Yu, Tie Yang, C. Su, Lianqing Liu

{"title":"Noncontact displacement sensing with high bandwidth and subnanometer resolution based on squeeze film damping effect","authors":"Shenghang Zhai, Jialin Shi, Peng Yu, Tie Yang, C. Su, Lianqing Liu","doi":"10.1109/MARSS55884.2022.9870502","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870502","url":null,"abstract":"Noncontact displacement measurement with high bandwidth and subnanometer resolution is critical for precision engineering applications. However, the existing displacement sensors with subnanometer resolution either require a special plate to be fixed on the object to be measured or are bulky and inconvenient to integrate with other instruments. The air film height between two plates affects the squeeze film damping coefficient, which has the potential for subnanometer displacement sensing. However, lacking comprehensive analysis, modelling and experimental research, the possibility of the use of the squeeze film damping effect for displacement sensing is still unknown. In this paper, the displacement sensing mechanism based on the squeeze film damping effect is thoroughly analyzed, and the related experiments are conducted. The air film height is converted into the vibration amplitude of a resonant microcantilever. Then, the cantilever vibration amplitude is measured by the optical lever method, and finally, the noncontact sample displacement measurement is realized. The squeeze film damping force on the plate is analyzed, and the model of the vibrated cantilever subject to squeeze film damping force is established. It is found that increasing the driving amplitude can improve the sensitivity of the displacement sensing and reduce the measurement noise. Experimental results show that the resolution of the surface displacement measurement is 0.5nm, the linear region is about 8μm, and the measurement bandwidth of the sensor is 700Hz.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132454803","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}

引用次数: 0

A Tetherless Microdriller for Maneuverability and On-Board Cargo Delivery Inside Viscoelastic Media 在粘弹性介质中实现机动性和货物运输的无系绳微钻

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870461

Tony Wang, Daasol Yang, Jiehao Chen, Jocelyn Chow, Yuhang Hu, Kimberly Hoang, A. Ansari

{"title":"A Tetherless Microdriller for Maneuverability and On-Board Cargo Delivery Inside Viscoelastic Media","authors":"Tony Wang, Daasol Yang, Jiehao Chen, Jocelyn Chow, Yuhang Hu, Kimberly Hoang, A. Ansari","doi":"10.1109/MARSS55884.2022.9870461","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870461","url":null,"abstract":"Untethered microrobots capable of drilling offer an attractive alternative to conventional surgical tools due to their lower invasiveness and maneuverability in subsurface tissue. This work presents a magnetically actuated microdriller (250µm in width and 1.25mm in length) capable of drilling at speeds of up to 780µm/s under a 10mT rotational magnetic field in an agar gel tissue phantom. The microdriller consists of a neodymium cube attached onto a driller printed via two-photon polymerization. Under sufficiently high static and rotational magnetic fields, the microdriller could reorient itself and travel a targeted trajectory inside the viscoelastic material. To demonstrate drug delivery capabilities, the microdriller could carry an attached pH-sensitive, fluorescein-loaded hydrogel along its path. In slightly acidic solutions similar to extracellular tumor environments, the hydrogel package selectively swelled and released the molecules held inside it. These results document one of the smallest microdrillers fabricated to date and the first to carry an on-board, pH-sensitive hydrogel for drug delivery and microsurgery applications.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131835898","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}

引用次数: 1

Controlled Helical Propulsion Against the Flow of a Physiological Fluid 控制螺旋推进对抗生理流体的流动

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870248

Chuang Li, F. Halfwerk, J. Arens, S. Misra, M. Warlé, I. Khalil

{"title":"Controlled Helical Propulsion Against the Flow of a Physiological Fluid","authors":"Chuang Li, F. Halfwerk, J. Arens, S. Misra, M. Warlé, I. Khalil","doi":"10.1109/MARSS55884.2022.9870248","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870248","url":null,"abstract":"Untethered helical magnetic devices (UHMDs) have the potential to navigate bodily fluids using permanent-magnet robotic systems for minimally invasive diagnostic and surgical procedures. These devices can be actuated by robotically moving rotating permanent magnets (RPMs) to achieve controllable steering and propulsion simultaneously in a wireless manner. To date, the vast majority of motion control systems using UHMDs are constrained to operate in the absence of a dynamic flow field and prior work did not rigorously address the fundamental roles of rheological, magnetic, and geometric characteristics of the UHMD and its surroundings on the resulting stability. In this work, we show how to construct the region of attraction of a UHMD driven by two synchronized RPMs inside fluid-filled lumen around an equilibrium point. We first present the governing hydrodynamic model of a magnetically-driven UHMD to describe its behavior against the flow of blood serum. Then we validate the model using 1-D frequency response characterization and show that it captures the measured linear relationship between the actuation frequency and propulsive thrust at various flow fields. We find that a region of asymptotic stability can be achieved around an equilibrium point allowing a 6-mm-long UHMD to overcome maximum volumetric flow field of 1.2 l/hr (i.e., 2.65 cm/s).","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122382706","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}

引用次数: 1