2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)最新文献_第4页

Instrumentation, VR and Haptic Systems applied to scanning and micromanipulation platforms: Research and Learning aspects * 仪器，VR和触觉系统应用于扫描和微操作平台:研究和学习方面*

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870489

F. Marchi, A. Niguès, N. Castagné

引用次数: 0

Cell Extraction Automation in Single Cell Surgery using the Aspiration Method 单细胞手术中细胞抽提自动化的抽吸方法

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870497

Basil Abu Zanouneh, J. Mills

引用次数: 0

2D-Compliant, Diamagnetic Levitating Micro-Robots for Operation on Non-Flat, Non-Clean Tracks 在非平坦、非清洁轨道上运行的二维抗磁悬浮微型机器人

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870462

A. Hsu, R. Pelrine, Rui de Gouvea Pinto, E. Schaler

引用次数: 2

Automated Fabrication of Tactile Sensors Using a Custom Additive Manufacturing Platform 使用自定义增材制造平台的触觉传感器自动制造

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870485

Danming Wei, Ruoshi Zhang, Ji-Tzuoh Lin, Dilan Ratnayake, Olalekan O. Olowo, Andrew S. Nimon, Moath H. A. Alqatamin, A. Sherehiy, D. Popa

{"title":"Automated Fabrication of Tactile Sensors Using a Custom Additive Manufacturing Platform","authors":"Danming Wei, Ruoshi Zhang, Ji-Tzuoh Lin, Dilan Ratnayake, Olalekan O. Olowo, Andrew S. Nimon, Moath H. A. Alqatamin, A. Sherehiy, D. Popa","doi":"10.1109/MARSS55884.2022.9870485","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870485","url":null,"abstract":"This paper presents the NeXus, a precision robotic platform with additive manufacturing capabilities that can be used to prototype strain gauge-based tactile sensors – SkinCells - on flexible substrates. An Aerosol Inkjet printer was employed to print the strain gauge structure of the SkinCell sensor. The design of this sensor combines curvilinear geometries representing both a radial shape structure and an arc shape structure, which have opposite gauge responses when the force is applied to the center of the sensor. The fabrication process of the SkinCell sensor is predicated on a parametric kinematic calibration of the NeXus to identify features on the sensor substrate and align them to the printing and metrology tools. Several strain gauge SkinCell sensor samples were printed on pre-fabricated flexible substrates using the NeXus. Results indicate a calibration precision of approximately 170 microns with 60 microns line-width features. This precision is sufficient to ensure that all printed gauges are electrically connected to the pre-fabricated contacts.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"20 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":"131107650","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: 2

A Hybrid Nanorobotic Manipulation Platform: A Sharing Holder between a Cs-TEM and an SEM for Micro to Sub-nanometer Fabrication 一种混合纳米机器人操作平台:用于微至亚纳米制造的Cs-TEM和SEM之间的共享持有人

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870493

Wenqi Zhang, Donglei Chen, Chaojian Hou, R. Shao, Zhan Yang, Lixin Dong

{"title":"A Hybrid Nanorobotic Manipulation Platform: A Sharing Holder between a Cs-TEM and an SEM for Micro to Sub-nanometer Fabrication","authors":"Wenqi Zhang, Donglei Chen, Chaojian Hou, R. Shao, Zhan Yang, Lixin Dong","doi":"10.1109/MARSS55884.2022.9870493","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870493","url":null,"abstract":"Nanorobotic manipulation inside a transmission electron microscope (TEM) and a scanning electron microscope (SEM) has been developed independently with TEM emphasizing the high resolution whereas the SEM focuses on more complex processes using for example multiple probes and taking the advantage of electron beams or focused ion beams (FIB) for nanofabrication and assembly. A merged platform by combining them together is highly demanded for complicated device-level prototyping and characterization. Here we report an advanced hybrid nanorobotic manipulation system with a holder compatible to both a dual-beam SEM with a FIB and electron-beam lithography (EBL) and a spherical aberration corrected (Cs) TEM. Together with multiple nanorobotic manipulators pre-installed inside the SEM, this sharing holder contains a scanning tunneling microscope (STM) as a positioning stage that can work with the TEM, hence highly complex and precise manipulation is achieved in a combined platform. Furthermore, the holder has a variety of physical stimuli integrated with TEM-compatible chips, which greatly expand the application scenarios of the two platforms. The fabrication of a nano-bioelectrical probe is taken as an example to demonstrate the advantages of this system in terms of task complexity, operational accuracy, and efficiency.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"70 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":"127067824","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

On-Chip Transportation and Mixing of Microsample Using Electrohydrodynamic Flow* 基于电流体动力流的微样品片上传输和混合*

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870510

Min Wang, Zicheng Li, Wei Dai, Rui Liu, Sishen Yuan, Jun Liu

{"title":"On-Chip Transportation and Mixing of Microsample Using Electrohydrodynamic Flow*","authors":"Min Wang, Zicheng Li, Wei Dai, Rui Liu, Sishen Yuan, Jun Liu","doi":"10.1109/MARSS55884.2022.9870510","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870510","url":null,"abstract":"Microfluidic devices and lab-on-a-chip systems are critically helpful in a number of biological and biomedical applications such as cell culture, drug delivery, and immunoassays. Micro-sample transportation, typically driven by hydraulic or pneumatic actuators, is one of the most elemental functions in the microfluidic systems. However, the existing sample transportation modules are difficult to control and observe because the existing of non-linearity and air bubbles. Moreover the closed channels has limited transparency and are inaccessible to microrobotic end-effectors. This study aims to develop a novel flow governing device for active sample transportation and assembly using electrohydrodynamic force. The dielectric liquid is filled in the microchannel as the transfer medium, and the electrodes are vertically integrated on the sidewalls to avoid blockage of the optical path. The dielectric liquid can generate a powerful flow when subjected to high DC voltage, thus providing an on-chip hydraulic power source. The proposed system is more compact than microdevices driven by external fluid sources such as syringe pumps. In addition, the vertically filled electrodes allows for a clearer view for observation and manipulation by other microrobotic tools. The micro-sample transportation experiments confirm that the sample can be transported bi-directionally with the highest transportation speed of 15.68 mm/s. The experiments also suggest that multiple samples could be transported and assembled by controlling the fluid flow in different channels.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"78 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":"123993774","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

Towards a compact and low-cost mesoscopic XY positioning system using 3D printing of conductive polymers 利用导电聚合物3D打印技术实现紧凑、低成本的介观XY定位系统

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870471

Benjamin Calmé, L. Rubbert, Y. Haddab

引用次数: 1

Optimal Path Planning of Micromanipulators in Confined spaces and Nanomanipulation of 1D Nanomaterials 受限空间微机械臂最优路径规划与一维纳米材料的纳米操作

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870501

Ujjal Dey, Supriti Sen, L. Prasanna Venkatesh, C. Jacob, C. S. Kumar

引用次数: 0

Design of a Compliant Vertical Micropositioning Stage Inspired by Lamina Emergent Mechanism 基于层流应急机构的柔性垂直微定位平台设计

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870463

Z. Lyu, Qingsong Xu

{"title":"Design of a Compliant Vertical Micropositioning Stage Inspired by Lamina Emergent Mechanism","authors":"Z. Lyu, Qingsong Xu","doi":"10.1109/MARSS55884.2022.9870463","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870463","url":null,"abstract":"The vertical micropositioning stage is a crucial device of precision measurement instruments. Previous vertical platforms often suffer from the disadvantages of large longitudinal dimensions and small output strokes. Inspired by the motion principle of the lamina emergent mechanism, this paper proposes a novel symmetric double-layer compliant vertical micropositioning stage. Such design saves the system footprint in vertical direction with a centimeter-level stroke output. The design and theoretical analysis of the stage are introduced first. Then, the performance simulation of the stage is given based on finite element analysis. A prototype was fabricated through 3D printing technology and preliminary tests were carried out. The stiffness of the overall mechanism obtained from theoretical model, simulation, and experiments shows a good consistency. According to the simulation data, the stiffness of the involved vertical positioning platform is 0.8271 N/mm and the first resonant frequency is 43.96 Hz. The mechanical design proposed in this paper provides a new reference for the design of compliant vertical micropositioning stage.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"23 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":"125956234","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

A Doppler and B-Mode Hybrid Ultrasound Tracking Method for Microcatheter Navigation in Noisy Environments 噪声环境下微导管导航的多普勒和b型混合超声跟踪方法

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870456

Moqiu Zhang, Lidong Yang, Haojin Yang, Lin Su, Li Zhang

{"title":"A Doppler and B-Mode Hybrid Ultrasound Tracking Method for Microcatheter Navigation in Noisy Environments","authors":"Moqiu Zhang, Lidong Yang, Haojin Yang, Lin Su, Li Zhang","doi":"10.1109/MARSS55884.2022.9870456","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870456","url":null,"abstract":"Robot-assisted ultrasound imaging provides a promising microrobot tracking method for biomedical tasks. However, noise artifacts such as interfaces or acoustic shadows have a direct influence on localization accuracy. This paper introduces a novel ultrasound tracking method that uses an ultrasound Doppler image-based noise filter and a template matching algorithm to accurately localize the microcatheter in Brightness mode(B-mode) images. We also propose a robot-assisted ultrasound imaging system that can switch between in-plane and out-of-plane tracking and provides 3D localization of the microcatheter in noisy environments. A magnetic microcatheter design that can generate strong Doppler signals and perform drug delivery is also presented. The tracking performance of the proposed system is experimentally verified both in a tissue-mimicking agarose phantom and an ex vivo phantom made of chicken breast. The proposed method can robustly navigate the microcatheter to the desired position in noisy environments. A blood clot clearance experiment is also demonstrated to verify the effectiveness of the microcatheter.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"38 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":"117014176","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