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The piezoelectric actuators as smart material actuator have been applied to fields which need high precision, fast response and high force. Jet dispensing heads which are generally driven by pneumatics require above mentioned characteristics. To make jet dispensing head being driven by piezoelectric actuators, it is essential to use piezoelectric actuators must be used with displacement amplification...
In recent years, nanocars with p-carborane wheels have been a subject of interest as an artificial molecular machine. Researchers aim to discover compositions that are easier to fabricate, efficient and are more stable on the surface. The p-carborane molecule has all these key elements, making it a viable choice as a nanocar wheel, and the mobility of a nanocar is heavily influenced by the motion...
In this paper, a fractional-order control (FOC) based approach is proposed for piezo-actuated nanopositioning stage. The developed controller is not only to suppress the vibration of the low-damped resonant mode, but also to minimize the tracking error for nanopositioning applications. Firstly, an inverse hysteresis compensator is utilized to compensate for the inherent hysteresis nonlinearity of...
Automated robotic manipulation of micro scale objects using optical tweezers requires processing of workspace images to extract real-time information on the positions and orientations of the objects. This information is particularly challenging to extract in workspaces comprising mixture of biological and inanimate objects, such as live cells and microspheres, when the popular imaging modality of...
in this paper we have studied the motion of a nanocar and nanotruck on gold substrate using the classical molecular dynamics method. Analyzing the motion regime of the nanocar at different temperatures is one of the main goals of this paper. In the past years, similar molecules such as Trimmer, Z-car and nanotruck have been simulated by Konyukhov and Akimov. To increase the modeling accuracy in this...
Sub-wavelength periodic nano-holes produce extraordinary optical transmission (EOT) and have been used in biochemical sensing. However, to date the widely used single-layered nano-hole film turns to have reached its limit in accuracy and sensitivity. To provide new insights, this paper proposes to combine the classic Fabry-Pérot interferometer with nano-hole array structure so that both the high-reflectance...
Non contact magnetic actuation inside liquids or in ambient environments has gained a large interest over the last few years. A large range of micrometer size particles are controlled using this principle. However little consideration has been made to air/liquid interface, despite the interesting properties of this environment (good repeatability due to the small adhesion forces, and low viscous effects...
Micro-sized agents can be used in applications such as microassembly, micromanipulation, and minimally invasive surgeries. Magnetic agents such as paramagnetic microparticles can be controlled to deliver pharmaceutical agents to difficult-to-access regions within the human body. In order to autonomously move these microparticles toward a target/goal area, an obstacle-free path must be computed using...
Flexible new micro/nanomanipulation tools are required to intuitively perform micro/nano operations without the need for expensive, bespoke tools. In this paper, the design and analysis of a dexterous 4 degree of freedom (DOF) hybrid serial-parallel micro/nanomanipulator is presented. The manipulator is controlled through a haptic device, enabling a trained user to control the system's motion, and...
Novel construction of mobile piezoelectric micro robots have been presented. The construction of the robots, including the (acrylic or polylactide) frame body and the (PZT) piezoelectric beam, is simple and can be easily shrunk to small size. The volume can be less than a size of few cm3 and the weight about tens of grams. In contrast to general mobile micro robots, the actuating mechanism of the...
A cost-effective position measurement system based on optical mouse sensors is presented in this work. The system is intended to be used in a planar positioning stage for microscopy applications and as such, has strict resolution, accuracy, repeatability, and sensitivity requirements. Three techniques which improve the measurement system's performance in the context of these requirements are proposed;...
Single cell manipulation technology has been widely applied in biological fields. Recently, a biochip platform with novel configuration of electrodes for cell 3-D rotation has been successfully developed. However, the rotation platform still has two major shortcomings of manual place of single cell and unstable rotation, which need to be addressed. To solve the two problems, in this paper we propose...
This volume contains the papers presented at MARSS 2016: First International Conference on Manipulation, Automation and Robotics at Small Scales held on July 18–21, 2016 in Paris, France.
Micro-manipulation and micro-assembly techniques play today a key role in the development of new integrated smart systems that can find applications in strategic fields such as transport, telecommunication, health and defense. However, the existing micro-handling solutions lack of speed, flexibility and autonomy which represents an obstacle to the development of these technologies. Our approach consist...
A homodyne path stabilised Michelson based interferometer displacement sensor was developed. This sensor achieved a noise floor of 100 fm/√Hz, for frequencies higher than 100 KHz. A prototype AFM that integrated this sensor was developed. Using tapping mode, topography maps of an AFM test grid were produced.
In cell-based biomedical applications, intracellular delivery is an important technique for gene modification and drug delivery. Various delivery methods have been proposed to overcome the cell plasma membrane barrier in the delivery of DNA, mRNA, and drugs. Current methods, such as lipofection and viral method, cannot effectively deliver materials in some cell types (e.g., cells with abundant extracellular...
Piezoelectric actuators with their high stiffness, fast response and nearly unlimited displacement resolution have been widely used in precision positioning systems. But, the existence of the inherent hysteretic behavior considerably degrades the accuracy of the actuators. To compensate for hysteresis, one of the suggested ways is to have a feedforward controller with an inverse model to linearize...
A novel asperity model is proposed by mixing two types of classical asperity model. The novel asperity is capable of describing both the tangential and vertical asperity behaviors reasonably. Based on this novel asperity model, a novel friction model is proposed, which is a Maxwell like model, and can describe both the tangential and vertical friction characteristics with a simple structure.
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