2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)最新文献_第6页

Integrated Microfluidic Probe for Single Cell Manipulation * 用于单细胞操作的集成微流体探针*

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870475

Samuel Sofela, Alla Saleh, M. Qasaimeh

引用次数: 0

Developing an Optical Microlever for Stable and Unsupported Force Amplification 用于稳定和无支撑力放大的光学微杠杆的研制

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870464

P. Andrew, A. Raudsepp, V. Nock, D. Fan, M. A. K. Williams, U. Staufer, E. Avci

引用次数: 0

An Automatic System for Manipulation and Rotation of Early Stage 2-Cell Mouse Embryos 早期2细胞小鼠胚胎的自动操作和旋转系统

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870503

Basil Abu Zanouneh, J. Mills

{"title":"An Automatic System for Manipulation and Rotation of Early Stage 2-Cell Mouse Embryos","authors":"Basil Abu Zanouneh, J. Mills","doi":"10.1109/MARSS55884.2022.9870503","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870503","url":null,"abstract":"Micromanipulation of biological cells such as embryos during preimplantation genetic diagnosis (PGD) requires delicate handling of cells. Specifically, accurate control of the embryo orientation is essential to gain a more favourable position for zona breaching and blastomere biopsy, ensuring embryo survival. Manual embryo reorientation is achieved by aspirating and releasing the embryo arbitrarily using a vacuum-equipped micropipette until the embryo reorients itself in a favourable manner. Unfortunately, this trial and error approach heavily relies on the operator’s skill, ultimately reducing biopsy success rates due to reduced precision in reorientation and ablation. In this study, an automatic image-based feedback orientation controller for early-stage embryos, using conventional IVF lab equipment, is proposed to automate the process of cell reorientation. Rotation of the embryo is achieved by rolling the embryo using a micropipette which grasps the embryo but allows slippage to permit the embryo to roll while in contact with a glass slide substrate. The substrate is mounted on a variable speed x,y stage which is controlled using one of two image-based rotation controllers investigated. The proposed control algorithms estimate the angular velocity of the embryo to determine the rotation angle, creating an error signal when differenced from the reference angle to drive a PID controller that changes the speed of the substrate. The first proposed controller uses the optical flow of the image feed to detect the cell rotation event and uses the kinematic model of the setup to determine the rotation angle. The second proposed controller uses the optical flow as a feedback signal in real-time to estimate the embryo rotation angle. Experimental results with both proposed controllers demonstrate accurate reorientation of the blastomeres, to lay the first steps towards a fully automated cell manipulation system.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"19 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":"122920254","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 spacious three-coil magnetic manipulation system 一个宽敞的三线圈磁操纵系统

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870491

Sayanta Goswami, Ambarish Ghosh, D. Dasgupta

引用次数: 1

Multi-Robot Collaboration for Electronic Textile Fabrication 电子纺织制造的多机器人协作

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870470

Danming Wei, S. Challa, Mohammad S. Islam, J. Beharic, C. Harnett, D. Popa

引用次数: 2

A Predictive Model of Seal Condition in Automated Patch Clamp System 自动膜片钳系统密封状态的预测模型

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870494

Sheng-An Yang, King Wai Chiu Lai

{"title":"A Predictive Model of Seal Condition in Automated Patch Clamp System","authors":"Sheng-An Yang, King Wai Chiu Lai","doi":"10.1109/MARSS55884.2022.9870494","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870494","url":null,"abstract":"Patch clamp, the fundamental technique in electrophysiology, provides evidence for analyzing physiological activities of ion channels. The gigaseal formation process is an essential factor for guaranteeing recording condition. This process contributes to monitor biological ion channel currents by reducing the leakage current between pipette tip and cell membrane. While automated patch clamp systems are booming, implementation of criteria derived from empirical values inevitably randomizes the success of giga-ohm seal. In this paper, we have addressed the seal condition between the bath current and the seal current in the gigaseal formation process. The sealing limit of cell membrane to pipette tip was indicated as the critical point of seal current. A predictive model based on the critical point has been proposed to optimize the threshold of the seal current for gigaseal formation. An automated patch clamp system with the predictive model (PM-APCS) has been designed and developed to harvest whole cell voltage clamp recordings. In the development, HEK 293 cells were employed for the validation of the method. The success rate of gigaseal formation was 95.9%, which could greatly advance the exiting manual or automatic methods. Overall, our findings provide important insights for the understanding of the mechanism of seal current. The predictive model has the potential to accelerate the application of various automated systems for electrophysiology.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"12 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":"114722462","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

Inertial Focusing and Lateral Manipulation of Particles in a Microchannel Flow 微通道流中粒子的惯性聚焦和横向操纵

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870504

W. Waheed, E. Abu-Nada, A. Alazzam

引用次数: 0

Soft actuators that self-create bone for biohybrid (micro)robotics 为生物混合(微型)机器人自行制造骨骼的软驱动器

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870251

Danfeng Cao, J. Martinez, Emilio Satoshi Hara, E. Jager

{"title":"Soft actuators that self-create bone for biohybrid (micro)robotics","authors":"Danfeng Cao, J. Martinez, Emilio Satoshi Hara, E. Jager","doi":"10.1109/MARSS55884.2022.9870251","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870251","url":null,"abstract":"Here we present a new class of variable stiffness actuators for soft robotics based on biohybrid materials that change their state from soft-to-hard by creating their own bones. The biohybrid variable stiffness soft actuators were fabricated by combining the electromechanically active polymer polypyrrole (PPy) with a soft substrate of polydimethylsiloxane or alginate gel. These actuators were functionalized with cell-derived plasma membrane nanofragments (PMNFs), which promote rapid mineralization within 2 days. These actuators were used in robotic devices, and PMNF mineralization resulted in the robotic devices to achieve a soft to stiff state change and thereby a decreased or stopped actuation. Moreover, perpendicularly and diagonally patterned actuators were prepared. The patterned actuators showed programmed directional actuation motion and could be fixated in this programmed state. Finally, patterned actuators that combined soft and rigid parts in one actuator showed more complex actuation motion. Together, these variable stiffness actuators could expand the range of applications of morphing robotics with more complex structures and functions.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"54 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":"124451994","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

MARSS 2022 Cover Page MARSS 2022封面

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/marss55884.2022.9870480

引用次数: 0

MEMS Bimorph Fiber-Gripping Actuators* MEMS双晶片光纤夹持驱动器*

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870247

M. S. Islam, S. Challa, M. H. Yassin, S. S. Vankayala, J. Beharic, C. Harnett

{"title":"MEMS Bimorph Fiber-Gripping Actuators*","authors":"M. S. Islam, S. Challa, M. H. Yassin, S. S. Vankayala, J. Beharic, C. Harnett","doi":"10.1109/MARSS55884.2022.9870247","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870247","url":null,"abstract":"We investigate mechanical tangling for adhesion of microelectromechanical systems (MEMS) to unconventional carrier materials in the assembly of stretchable electronics. Adhesion plays a crucial role in fabrication, but is a difficult task to realize even on continuous thin films of soft materials like silicone and polyimide. Adhesion becomes more challenging on discontinuous surfaces like fabric meshes, yet these substrates expand the MEMS universe to new materials, and provide new affordances like passage of electronic contacts from one side of a mesh to the other. Microgripper arrays are realized by microfabrication and release of strained metal-oxide bilayers. This paper describes a process that wraps a MEMS gripper around a conductive fiber and reverses the process using electric current to open the gripper. The gripper’s electrical resistance serves as a self-temperature sensor over the 20-500 °C range. Beyond their potential for adhering MEMS to fabrics and to flexible/stretchable substrates that are incompatible with or resistant to adhesives, these microgrippers illustrate how MEMS-based microrobots might interact with small-scale (<200 micron diameter) fibers in manipulation and locomotion activities. The key contribution of this paper over our earlier work is demonstrating the grippers’ temperature-dependent resistance, which offers a route to improved control of the gripper state.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"12 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":"128447952","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