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This paper presented a method for multiwalled carbon nanotube(MWCNT) and graphene fusion by applying current to the electric circuit system inside scanning electron microscopy (SEM). The MWCNT was picked up from CNT bulk and the graphene flake was exfoliated from graphite by nanorobotics manipulation system. The current was applied to the two ends of carbon nanotube and graphene. The C-C bonds at...
This paper presented a method for multiwalled carbon nanotubes (MWCNTs) fusion induced by electron beam irradiation inside scanning electron microscopy (SEM). The MWCNT was picked up from CNT bulk by nanorobotics manipulation system. The electron beam irradiation was introduced at the joint of two free end of MWCNTs. C-C bonds at the ends of CNTs were fused together. The method of this paper presented...
A method of assembling a multi-walled carbon-nanotube field effect transistor (CNT-FET) was presented in this paper. A nanorobotic manipulation system with 11 positioning degrees of freedom (DOFs) was used for the real time nanomanipulation. The nanorobotic manipulation system was constructed inside the scanning electron microscopy (SEM) specimen chamber to pick up a single MWCNT from MWCNT bulk without...
This paper proposed an effective release method of micro objects by adhesion control based on the piezoelectric vibration. A micromanipulation system was presented to carry out dynamic manipulation. The operation strategy employing inertia force to overcome adhesion force was established by modeling and theoretical analysis. Experimental results with this release method achieved 90% repeatability...
This paper presented a method of picking up carbon nanotubes (CNTs) from nanotube bulk by van der Waals force between the carbon nanotubes and AFM cantilever under scanning electron microscopy (SEM). A manipulation strategy was established based on SEM by analyzing the van der Waals force of three different types of contacting model. Three groups of experiments were designed and carried out to investigate...
Social force model is a widely-used crowd model that simulates pedestrian dynamics based on Newtonian mechanics. It combines physical forces (caused by body compression) with psychological repulsive forces (caused by the pedestrians' inner desire to keep a distance from others or walls) to represent the intentional collision avoidance mechanism. The model can reproduce many collective phenomena (e...
In order to improve the dynamic stability, the response speed and positioning accuracy, the oval amplification mechanisms and flexible hinges are added to the integrated two-dimensional micro-positioning stage, which makes the stage have two-dimensional motion in a single plane and effectively reduce its volume. The effects of the parameters of the oval amplification mechanism and flexible hinge on...
The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as base unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, and further through kinematic chain regeneration, the specific...
Due to scale effects, the releasing of micro objects has been a long-standing challenge in micromanipulation applications. In this paper a micromanipulation system is presented based on the adhesion control with compound vibration. This adhesion control technique employs inertia force to overcome adhesion force achieving 100% repeatability with releasing accuracy of 4±0.5μm, which was experimentally...
Due to scale effects, the reliable pick-and-place manipulation of micro objects has been still a long-standing challenge in scientific and technological field. This paper presents an active method to manipulate microobjects, which employs inertia force and compound vibration to overcome adhesion forces. The compound vibration comes from electrostatic actuator and piezoelectrically driven microactuator...
We study how direct communication within a group of devices, cluster, can improve the performance of a conventional cellular system. The clusters are formed from devices that are close and communicating with each other, for example, sharing data. The clusters share the radio resources among other devices in the system thus creating a mixed network system comprising directly communicating devices and...
As the endeffectors of micromanipulation systems, microgrippers are crucial point of such systems for their efficiency and their reliability. So the steady and reliable performance of the microgripper is needed. In this work, a hybrid-type electrostatic silicon microgripper integrated vacuum tool is designed and fabricated to realize the steady gripping and reliable placing manipulations. This hybrid-type...
According to the shortcomings of traditional reinforcement learning method when applied to autonomous underwater vehicle (AUV) engineering, such as generalization problem, risks by trial-and-error a low learning efficiency, the neural network and case based Q learning (NCQL) is proposed. The basic principle of NCQL is making use of neural net to solve generalization problem, and case based learning...
This paper presents the design, fabrication, and application of an piezoelectrically driven microgripper integrated sidewall piezoresistive force sensor for measuring the gripping force. Surface and bulk micromachining technology is employed to fabricate end-effectors and sensor of the microgripper from a single crystal silicon wafer. Vertical sidewall surface piezoresistor etching technique is used...
This work is focused on design and fabrication of a four arms structure MEMS gripper integrated sidewall piezoresistive force sensor. Surface and bulk micromachining technology is employed to fabricate the microgripper from single crystal silicon wafer (i.e., no silicon on insulator wafer is used). Vertical sidewall surface piezoresistor etching technique is used to form the side direction force sensors...
This paper presents the design, fabrication, and application of an electrostatically driven microgripper integrated piezoresistive force sensor. The microgripper is designed to manipulate two microobjects at the same time with force sensing ability. Surface and bulk micromachining technology is employed to fabricate the microgripper from single crystal silicon wafer. The end effector of the gripper...
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