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This paper presets the assembly of a nanowire probe pH sensor and evaluation inside acid and alkali. An AFM cantilever was used for electrodes of the device and etched by FIB. Two carbon nanotubes (CNT) were assembled to the separated electrodes of AFM cantilever. A tungsten probe is etched by focused ion beam (FIB) into 300 nm in diameter and 25 in length. Then the probe is coated by parylene and...
To detect and recover the errors occurred in the task of mating connectors is vital in robotic wiring harness systems. In our previous work, a set-membership approach for static piecewise affine (PWA) system was proposed. Although using the static force model, errors can be detected effectively during mating connectors, there are still some mistaken detections and unrecognized faults, due to the insufficient...
To design a safe path planning for the manipulator is a key issue during the human worker and manipulator cooperation cell assembly. In this study, a cell assembly system involving human worker and manipulator is designed. According to the camera vision information, the locations of the human worker and the manipulator are calculated, and then the potential field is calculated based on the Artificial...
The microstructures are expected to be used as the components of on-chip single cell analysis system such as cell manipulation and measurement tools. In this paper, we propose the on-chip fabrication method of microstructures with minimum dimensions of 5 ??m. The micro objects with arbitrary shape are fabricated by illumination of patterned UV-ray through the mask. The arbitrary shape objects are...
In this paper, we propose the on-chip fabrication method of microstructure with dimensions of ~ 20 mum to apply for the single cell analysis. The polymerized objects with arbitrary shape are fabricated by illumination of patterned UV-ray through the mask to the photo-crosslinkable resin on the microchip under a microscope. The mask is patterned the desired patterns. The fabricated polymerized objects...
To obtain a secured mating of electric connectors is one of the most important steps in a robotic wiring harness assembly system. Although there are plentiful results about complex peg-in-hole assembly problems, little work has been done with respect to this special issue. In many cases, mating connectors can be regarded as a hole search process of a multiple hole-in-peg problem. Because various faults...
This paper proposes a task-oriented force control system for the assembly of segments of a shield tunnel excavation system. First, we design a generalized coordinate system referred to as a task-oriented coordinate system, so that the position and orientation of a segment can be adjusted compliantly according to the external force from existing segments with which the segment is assembled together...
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