2011 International Symposium on Micro-NanoMechatronics and Human Science最新文献

{"title":"Vertical ladder climbing down motion with internal stress adjustment for a multi-locomotion robot","authors":"Zhiguo Lu, T. Aoyama, K. Sekiyama, Y. Hasegawa, T. Fukuda","doi":"10.1109/MHS.2011.6102217","DOIUrl":"https://doi.org/10.1109/MHS.2011.6102217","url":null,"abstract":"This paper describes a ladder climbing down motion for a multi-locomotion robot (MLR). Since a closed kinematic chain is formed by robot links and the ladder in the ladder climbing down motion, if there exist redundant position controlled joints, an internal stress would appear due to the position errors (in the environment or in the joint position, …). The internal stress has no contribution to equilibrate the robot load (weight and inertial force), however it produce greater torsional stress to the robot joint inside the closed chain. A control algorithm so that is proposed to adjust the internal stress. The primary contribution is in improving the working condition and minimizing the total squared torques of robot joints by reducing the additional internal stress. Since the pace gait is fast and flexible for robot climbing down the ladder, it is taken as an example to explain the proposed control method.","PeriodicalId":286457,"journal":{"name":"2011 International Symposium on Micro-NanoMechatronics and Human Science","volume":"368 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132384040","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}

{"title":"Application of feedback system control (FSC) to identify the optimized osteogenic drug cocktails","authors":"Y. Honda, Xianting Ding, F. Mussano, Akira Wiberg, Chih-Ming Ho, I. Nishimura","doi":"10.1109/MHS.2011.6102147","DOIUrl":"https://doi.org/10.1109/MHS.2011.6102147","url":null,"abstract":"We established a novel expeditious drug screening approach, Feedback system control (FSC) with differential evolution (DE), to search for optimal drug cocktails that induced robust osteoblastogenesis of mesenchymal stem cells. The prototype drug cocktails composed of 7 independent factors including BMP-2 at 10 different concentrations were prepared to investigate the efficiency of FSC. As a trial, two osteogenic biomarkers were utilized as fitness indices in the FSC processes: alkaline phosphatase (ALP) expression as an early osteogenic marker and in vitro calcium precipitation as a later marker. Notably, drug cocktails that FSC identified using the ALP assay lacked to induce in vitro mineralization. The next FSC trial with mineralization assays identified a different set of drug cocktails that generated more specific osteogenic differentiation. The required doses of BMP-2 varied significantly in these drug cocktails. The results demonstrated the FSC to be a useful tool in optimizing the combinatory drug cocktails. Furthermore, the identified multiple factors may provide a novel clue to elucidate the complex biological system, such as osteogenic differentiation.","PeriodicalId":286457,"journal":{"name":"2011 International Symposium on Micro-NanoMechatronics and Human Science","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128350186","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}

{"title":"Collective error detection of onboard intelligent compasses by consensus agreement algorithm","authors":"M. Kubo, Hiroshi Sato, Takashi Matsubara","doi":"10.1109/MHS.2011.6102173","DOIUrl":"https://doi.org/10.1109/MHS.2011.6102173","url":null,"abstract":"In this paper, a new frameworks for error detection of intelligence compasses which are installed on multiple robots by consensus agreement algorithm is proposed. Intelligent compass's accuracy is sometimes too unsteady to detect its fault. Therefore new error detection method is a major requirements for its long term application and coordination of multiple robots.","PeriodicalId":286457,"journal":{"name":"2011 International Symposium on Micro-NanoMechatronics and Human Science","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131614681","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}

{"title":"12 years of resonator: From telephone to atomic force microscopy","authors":"L. Buchaillot, B. Legrand, M. Faucher, B. Walter, E. Algré, Z. Xiong","doi":"10.1109/MHS.2011.6102145","DOIUrl":"https://doi.org/10.1109/MHS.2011.6102145","url":null,"abstract":"The history of MEMS resonators other than comb-drive is fairly short, 15 years at most. At the beginning, researchers together with engineers had the dream to replace quartz by silicon and they started working on resonators designed for filter application in cell phones. Today, MEMS resonators are surpassed by bulk acoustic wave technology and confined to time reference application. A couple of years ago, we decided the reorientation of our work on MEMS resonators towards atomic force microscopy (AFM) by fabricating integrated probes. In the World, besides US groups, like the Veeco group at Santa-Barbara, which does a lot of work for the AFM in liquid environment, there are still a few teams that aim to use dynamic AFM in liquid. The NanoScience Center from Munster (Resp. Fuchs) working with a private company (Atomic Force) has developed a signal processing that produces an artificial low damping coefficient in fluid. Also, it is worth to note that numerous teams from Japan are doing much effort to achieve an AFM oscillating system in liquid environment. For example, the Kawakatsu's group is focused on the development of an AFM in water with an oscillator vibrating at 20 MHz. Ando's Group has successfully imaged myosin motion onto a mica substrate with levers vibrating at 450 kHz (1 MHz in air) with 12 images/second within a 250 nm scanning window. High aspect ratio tip fabrication can be hardly achieved with such small lever dimensions. In order to clear this technological lock, deep changes are required. A paper reporting a joint study from Georgia Tech and Stanford [Onaran et al., Rev. Scientific Instruments 77 023501 2006]has shown an AFM tip mounted on a vibrating membrane. Using carefully designed micromachined mechanical structures with spring constants in the 1 N/m range and noise levels down to 10 fm/√Hz, they achieved piconewton force resolution with 10 kHz measurement bandwidth with this device. The dynamic modes of the AFM allow measurement of force variations under the picoNewton range. That is the reason why so many labs try to use the oscillating modes to probe soft matter or biological nanosystems dynamics in liquid environment. At present, these attempts face the difficulty of the liquid viscosity which dampens the oscillating cantilever. In order to minimize the hydrodynamic drag, we propose to change the overall oscillator and to choose an oscillation mode that reduces the liquid velocity gradient around the resonator. More precisely, the project aims to develop GHz MEMS/NEMS sensors for a new generation of high sensitivity Atomic Force Microscopes (AFM). This AFM will be a tool for in situ imaging of biological and chemical systems with a resolution better than the nanometer and the possibility of kinetic spectroscopy in liquids. In addition, it is intended to batch-fabricate the device in order to ease the possible industrial transfer thanks to the cost-effective approach.","PeriodicalId":286457,"journal":{"name":"2011 International Symposium on Micro-NanoMechatronics and Human Science","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126646712","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}

{"title":"Locomotion mechanism and control method for a microrobot using the difference in the vibration characteristics of the legs (fabrication of a prototype microrobot; preliminary experiments and experiments in turning control)","authors":"M. Isogai","doi":"10.1109/MHS.2011.6102189","DOIUrl":"https://doi.org/10.1109/MHS.2011.6102189","url":null,"abstract":"Recently, microrobots have been the subject of a large number of studies, and contests are held throughout the year with the aim of developing microrobot technologies. As a result, various types of microrobots have been proposed including motor-type, piezoelectric-element-type, and electromagnet-type microrobots. This study considers a novel locomotion mechanism and a control method for an electromagnet-type microrobot that can not only travel in a straight line, but can also turn using just a single electromagnet that utilizes the difference in the vibration characteristics of the left and right legs. In this study, a control method to change the turning radius is proposed, and a prototype microrobot and controller are fabricated. In addition, the characteristics of the turning radius are investigated and the effectiveness of the proposed control method is verified through experiments.","PeriodicalId":286457,"journal":{"name":"2011 International Symposium on Micro-NanoMechatronics and Human Science","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130560344","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}

{"title":"Design of Scout Robot as a robotic module for symbiotic multi-robot organisms","authors":"K. Harada, S. Russo, Tommaso Ranzani, A. Menciassi, P. Dario","doi":"10.1109/MHS.2011.6102244","DOIUrl":"https://doi.org/10.1109/MHS.2011.6102244","url":null,"abstract":"Self-reconfigurable modular robots have been studied worldwide mainly for autonomous exploration in unstructured environments. In previous studies, robotic modules were designed to be functional only as a part of an assembled structure, and thus the exploration capability was limited. Symbiotic multi-robot organisms have been newly proposed to design robotic modules as large-scale swarms of robots that can physically dock with each other and symbiotically share energy and computational resources within a single “artificial-life-form”. In this paper, a novel robotic module named Scout Robot, which is one of the three robotic platforms designed for the multi-robot organisms, is presented. The Scout robot is an autonomous miniature robot and equipped with many onboard sensors and a locomotion capability. It can move autonomously on rough terrains to explore the surroundings and interact with the other robots. The Scout robot is also equipped with 2 DoFs of actuation and shares the same docking design with the other robotic platforms, and thus can be a part of an assembled organism. In the experiments, the image-guided locomotion of a Scout robot and the multimodal locomotion of assembled robots were demonstrated.","PeriodicalId":286457,"journal":{"name":"2011 International Symposium on Micro-NanoMechatronics and Human Science","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115080785","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}

{"title":"Fabrication of microfluidic device on temperature-responsive cell culture surface for studying the shear stress-dependent cell detachment","authors":"Zhonglan Tang, Y. Akiyama, K. Itoga, J. Kobayashi, T. Okano","doi":"10.1109/MHS.2011.6102190","DOIUrl":"https://doi.org/10.1109/MHS.2011.6102190","url":null,"abstract":"We proposed a novel approach to quantitatively estimate the strength of cell-material interaction by using microfluidic system. The microfluidic device was made of poly (dimethylsiloxane) chip bonding on the temperature-responsive cell culture surface consisted of poly(N-isopropylacrylamide) (PIPAAm) grafted tissue culture polystyrene (TCPS) (PIPAAm-TCPS), containing five parallel test channels for cell culture. This construction allows concurrent generating five different shear forces applied to cells in each microchannel by varying the resistance of each channel, as well as obtaining identical cell incubation in each test channel. Bovine aortic endothelial cells were well adhered and spread on PIPAAm-TCPS in each channel at cell culture temperature of 37°C. Reducing temperature below the lower critical solution temperature of PIPAAm and starting flow, cells were peeled off from the hydrophilic PIPAAm-TCPS by the shear forces generated by flow. Shear stress dependent cell detachment process was evaluated with the different shear stress. Critical shear stress for cell detachment was achieved through studying the effect of shear stress on cell detachment times. As a result, the bonding strength between cells and hydrated PIPAAm-TCPS was weaker than that in other cell bonding biomaterials.","PeriodicalId":286457,"journal":{"name":"2011 International Symposium on Micro-NanoMechatronics and Human Science","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131993775","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}

{"title":"Positioning of an inchworm type actuator with five degrees of freedom","authors":"Tomohiro Yamada, A. Torii, A. Ueda","doi":"10.1109/MHS.2011.6102191","DOIUrl":"https://doi.org/10.1109/MHS.2011.6102191","url":null,"abstract":"We previously proposed many micro actuators consisted of piezoelectric elements (piezo) and electromagnets. These micro actuators realized small displacement in unlimited working area by the principle of an inchworm. One of these micro actuators is a self-propelled Stewart platform. It moves in the three linear and rotational directions. However, the tilt angle of the stage was very small. In this paper, we proposed the actuator with five degrees of freedom consisted of six piezos and six electromagnets. Its structure is similar to a cyclohexane structure. The actuator proposed can be operated two modes. One is a stage motion mode, and the other is a self-propelled motion mode. In the stage motion mode, three bottom electromagnets are excited and the stage moves by the principle of an inchworm. In the self-propelled motion mode, three top electromagnets are excited and the actuator moves by the principle of an inchworm. Step displacement both in the self-propelled motion mode and in the stage motion mode is described. Moving speed and positioning are also discussed.","PeriodicalId":286457,"journal":{"name":"2011 International Symposium on Micro-NanoMechatronics and Human Science","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114314049","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}

{"title":"Interactive nano manipulator based on an atomic force microscope for scanning electron microscopy","authors":"Masaki Takahashi, H. Ko, T. Ushiki, F. Iwata","doi":"10.1109/MHS.2011.6102241","DOIUrl":"https://doi.org/10.1109/MHS.2011.6102241","url":null,"abstract":"Scanning Probe Microscopes (SPMs) are well known as measurement tools of nanometer scale resolution. SPMs can be used not only for surface observation but also for local surface manipulation. The typical manipulation techniques using SPM are directly transferring or scratching some samples on surfaces with the probe. However, it is difficult to control precise positioning of the probe edge at exact target on the sample and move it for manipulation because there are no monitoring systems of the probe in conventional SPM operation. Thus, real time monitoring systems have been desired during the SPM manipulations. In this paper, we describe a novel nano manipulator capable to be operated inside the sample chamber of a scanning electron microscope (SEM). The nano manipulator is based on an atomic force microscope (AFM). A self-sensitive cantilever is employed for the AFM operation. This system allows us to fabricate and observe micro- and nano-scale samples under SEM observation. Furthermore, the AFM have multi-functional tools such as several type cantilevers, micro needle, micro tweezers, and micro scissors, which can be switched each other for multi-purpose measurement and fabrication. This system would be very useful for nanometer-scale measurement and engineering.","PeriodicalId":286457,"journal":{"name":"2011 International Symposium on Micro-NanoMechatronics and Human Science","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116736503","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}

{"title":"Cross-sectional of capacitance measurement in-transition of particle concentration in microchannel system","authors":"N. Othman, Je-Eun Choi, H. Obara, M. Takei","doi":"10.1109/MHS.2011.6102164","DOIUrl":"https://doi.org/10.1109/MHS.2011.6102164","url":null,"abstract":"In a present study, capacitance sensing is used as a visualization method for determination of dielectric permittivity distribution in microchannel system from external capacitance measurement. The microchannel had fabricated using micro-electro-mechanical-systems (MEMS) advanced technology which has two inlets and outlets and five cross-sections that each cross-section was embedding with 12 electrodes pair that connected to the microchannel system. The capacitance sensing had measured at cross-section III and V at different condition of inlets injection which cross-section III is located at the center of microchannel while cross-section V is nears the outlets. The dynamic behaviors of 6.0µm of polystyrene particles and deionized water are investigated by using capacitance sensing and particles concentration distribution in a presence of non-uniform electric fields of micro electrodes are studied in details. The permittivity and concentration of particles in term of a particle volume fraction are calculated at different zone of the microchannel area measurement. The microchannel area measurement are divided into three different zones which zone I is a measurement near a wall, zone II is a measurement halfway between centerlines and the wall and zone III is a measurement at the centerlines of microchannel system. The particles are more concentrate in zone I and zone II which is the area between centerlines of microchannel and near the wall that indicates a migration of particles are happen in the microchannel that seems to be reflect to the Serge-Silberberg phenomenon.","PeriodicalId":286457,"journal":{"name":"2011 International Symposium on Micro-NanoMechatronics and Human Science","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129406538","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}