Autonomous 2D microparticle manipulation based on visual feedback
ABSTRACT Autonomous two-dimensional manipulation of microparticles to form patterns under an optical microscope by pushing and pulling them with a sharp nanoprobe is presented. Camera calibration is done by an iterative sliding-mode parameter observer designed to satisfy the Lyapunov stability criterion. Estimated parameters are also used to increase the bandwidth on position control. Individual particles are manipulated in linear trajectories, utilizing a procedure that allows the particles to stick near the tip for horizontal motion and to get released for vertical motion. Patterns (and assemblies) of particles are generated using a planning algorithm that orders individual manipulations based on the blockage of linear trajectories by other particles or target positions. Basically, the particle that blocks the most number of trajectories is positioned to the target position that blocks the least number of trajectories. This ordering algorithm is a minimization of blockages to the linear trajectories and hence, performs better than the conventional distance-based approaches. Efficiency of the approach is demonstrated on experimental results, positioning 4.5 mum diameter polystyrene particles on a flat glass substrate autonomously. Average accuracy of individual manipulations is less than 0.64 mum.
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ABSTRACT: This paper proposes a novel micro/nano scale manufacturing system using optical tweezers and chemical linkages for manufacturing two- and three- dimensional micro/nanostructures. A holographic multiple trap optical tweezer system is first used to trap particles in a desired pattern. The particles are then connected to form rigid units using suitable chemistry. Connection schemes based on gold seeding, complimentary-DNA linkage and streptavidin-biotin chemistry are presented and possible applications are explored.Robotica 07/2005; 23(04):435-439. DOI:10.1017/S0263574704000864 · 0.69 Impact Factor
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ABSTRACT: The contact phase of an assembly task involving micro and nano-sized building blocks is complicated by the presence of surface and intermolecular forces such as electrostatic, surface-tension and Van der Waals forces. Assembly strategies must account for the presence of these forces in order to guarantee successful repeatable micro and nanoassembly with high precision. In this paper, a detailed model is presented for the electrostatic interactions at these scales and qualitatively analyzed. Based on the results of this analysis, dielectrophoretic assembly principles of MEMS/NEMS devices are proposed and experimentally verified with microtweezers for microscale Ni parts and with nanoelectrodes fabricated by electron-beam lithography for carbon nanotube assembly. The successful manipulation and assembly of carbon nanotubes using dielectrophoretic forces produced by nanoelectrodes will lead to a higher integration of CNTs into both nanoelectronics and NEMSAdvanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on; 08/2005
- Industrial Electronics, 2005. ISIE 2005. Proceedings of the IEEE International Symposium on; 02/2005