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Software for Small-scale robotics: A Review

International Journal of Automation and computing 2018年第5期15卷 515-524页

作者： Tobias Tiemerding Sergej Fatikow Department of Computing Science Division Microrobotics and Control Engineering (AMiR) University of Oldenburg OFFIS–Institute for Information Technology R&D Division Automation and Integration Technology (AIT)

In recent years, a large number of relatively advanced and often ready-to-use robotic hardware components and systems have been developed for small-scale use. As these tools are mature, there is now a shift towards advanced applications. These often require automation and demand reliability, efficiency and decisional autonomy. New software tools and algorithms for artificial intelligence（AI） and machine learning（ML） can help here. However, since there are many software-based control approaches for small-scale robotics, it is rather unclear how these can be integrated and which approach may be used as a starting point. Therefore, this paper attempts to shed light on existing approaches with their advantages and disadvantages compared to established requirements. For this purpose, a survey was conducted in the target group. The software categories presented include vendor-provided software, robotic software frameworks（RSF）, scientific software and in-house developed software（IHDS）. Typical representatives for each category are described in detail, including Smar Act precision tool commander, Math Works Matlab and national instruments Lab VIEW, as well as the robot operating system（ROS）. The identified software categories and their representatives are rated for end user satisfaction based on functional and non-functional requirements, recommendations and learning curves. The paper concludes with a recommendation of ROS as a basis for future work.

关键词： Robotic control software engineering micro/nano robotics artificial intelligence (AI) machine learning (ML) open

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Toward Wide-Angle microvision Sensors

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IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 2013年第12期35卷 2982-2996页

作者： Koppal, Sanjeev J. Gkioulekas, Ioannis Young, Travis Park, Hyunsung Crozier, Kenneth B. Barrows, Geoffrey L. Zickler, Todd Harvard Univ Cambridge MA 02138 USA Harvard Univ Sch Engn & Appl Sci Cambridge MA 02138 USA

Achieving computer vision on microscale devices is a challenge. On these platforms, the power and mass constraints are severe enough for even the most common computations (matrix manipulations, convolution, etc.) to be difficult. This paper proposes and analyzes a class of miniature vision sensors that can help overcome these constraints. These sensors reduce power requirements through template-based optical convolution, and they enable a wide field-of-view within a small form through a refractive optical design. We describe the tradeoffs between the field-of-view, volume, and mass of these sensors and we provide analytic tools to navigate the design space. We demonstrate milliscale prototypes for computer vision tasks such as locating edges, tracking targets, and detecting faces. Finally, we utilize photolithographic fabrication tools to further miniaturize the optical designs and demonstrate fiducial detection onboard a small autonomous air vehicle.

关键词： Computational sensors micro/nano computer vision optical templates optical computing micro/nano robotics

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On-Chip Automatic Trapping and Rotating for Zebrafish Embryo Injection

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IEEE robotics AND AUTOMATION LETTERS 2022年第4期7卷 10850-10856页

作者： Chen, Zhuo Liu, Xiaoming Tang, Xiaoqing Li, Yuyang Liu, Dan Li, Yuke Huang, Qiang Arai, Tatsuo Beijing Adv Innovat Ctr Intelligent Robots & Syst State Key Lab Intelligent Control & Decis Complex Beijing 100811 Peoples R China Beijing Inst Technol Sch Mechatron Engn Beijing 100081 Peoples R China Univ Electrocommun Ctr Neurosci & Biomed Engn Tokyo 1828585 Japan

Zebrafish embryo injection is often required in biomedical research using zebrafish. In the injecting operation, trapping and rotating the zebrafish embryo to achieve a proper posture is essential for the high success rate. We proposed an on-chip platform capable of efficient and automatic trapping and rotating for the injection of zebrafish embryos. A low-cost 3D-printed microchannel is designed to trap zebrafish embryos into the cavity array. The blind-hole design at each cavity can generate microbubbles, and the bubbles exposed to the acoustic wave with a specific frequency can trap and rotate the zebrafish embryos. The progress, including trapping and rotating, can be monitored and executed automatically with computer vision assistance. Experimental results show that we realized on-chip trapping and rotating operations successfully. The success rate of trapping zebrafish embryos was up to 99%, and the time of trapping a single embryo was as low as 0.2 s. Embryo rotation could be achieved by two different modes, including continuous rotation and intermittent rotation. The accuracy and maximal velocity of rotating the embryo reached 5 degrees and 3.5 r/s, respectively. Thus, we believe the proposed efficient automatic on-chip trapping and rotating platform could support the zebrafish embryo injection well.

关键词： Cell injection micro/nano robotics microfluidic devices trapping and rotating zebrafish embryo

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microrobotic Swarms for Intracellular Measurement with Enhanced Signal-to-Noise Ratio

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ACS nano 2022年第7期16卷 10824-10839页

作者： Wang, Xian Wang, Tiancong Chen, Xin Law, Junhui Shan, Guanqiao Tang, Wentian Gong, Zheyuan Pan, Peng Liu, Xinyu Yu, Jiangfan Ru, Changhai Huang, Xi Sun, Yu Suzhou Univ Sci & Technol Sch Elect & Informat Engn Suzhou 215009 Peoples R China Hosp Sick Children Sonia Labatt Brain Tumour Res Ctr Program Dev & Stem Cell Biol & Arthur Toronto ON M5G 1X8 Canada Univ Toronto Dept Mol Genet Toronto ON M5S 1A8 Canada Univ Toronto Dept Mech & Ind Engn Toronto ON M5S 3G8 Canada Univ Toronto Inst Biomed Engn Toronto ON M5S 3G9 Canada Univ Toronto Dept Elect & Comp Engn Dept Comp Sci Toronto ON M5S 3G4 Canada Chinese Univ Hong Kong Sch Sci & Engn Shenzhen 518172 Peoples R China Robot Soc AIRS Shenzhen Inst Artificial Intelligence Shenzhen 518172 Peoples R China

In cell biology, fluorescent dyes are routinely used for biochemical measurements. The traditional global dye treatment method suffers from low signal-to-noise ratios (SNR), especially when used for detecting a low concentration of ions, and increasing the concentration of fluorescent dyes causes more severe cytotoxicity. Here, we report a robotic technique that controls how a low amount of fluorescent-dye-coated magnetic nanoparticles accurately forms a swarm and increases the fluorescent dye concentration in a local region inside a cell for intracellular measurement. Different from existing magnetic micromanipulation systems that generate large swarms (several microns and above) or that cannot move the generated swarm to an arbitrary position, our system is capable of generating a small swarm (e.g., 1 mu m) and accurately positioning the swarm inside a single cell (position control accuracy: 0.76 mu m). In experiments, the generated swarm inside the cell showed an SNR 10 times higher than the traditional global dye treatment method. The high-SNR robotic swarm enabled intracellular measurements that had not been possible to achieve with traditional global dye treatment. The robotic swarm technique revealed an apparent pH gradient in a migrating cell and was used to measure the intracellular apparent pH in a single oocyte of living C. elegans. With the position control capability, the swarm was also applied to measure calcium changes at the perinuclear region of a cell before and after mechanical stimulation. The results showed a significant calcium increase after mechanical stimulation, and the calcium increase was regulated by the mechanically sensitive ion channel, PIEZO1.

关键词： micro/nano robotics micromanipulation Swarm Fluorescent Imaging Signal-to-Noise Ratio

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3D Noncontact micro-Particle Manipulation With Acoustic Robot End-Effector Under microscope

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IEEE robotics AND AUTOMATION LETTERS 2024年第9期9卷 7979-7986页

作者： Wang, Mingyue Li, Jiaqi Jia, Yuyu Sun, Zhenhuan Su, Hu Liu, Song ShanghaiTech Univ Sch Informat Sci & Technol Shanghai 201210 Peoples R China Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China Shanghai Engn Res Ctr Intelligent Vis & Imaging Sch Informat Sci & Technol Shanghai Peoples R China

As an essential component of noncontact manipulation, acoustic manipulation has achieved great success in multidisciplinary research and applications. Although acoustic tweezers have made advancements in manipulating particles in air, handling individual particles with high precision in water remains challenging and inadequately addressed due to the difficulty in precisely characterizing and calibrating acoustic robot end-effectors from a robotic perspective. In this letter, we present a vision-based automated noncontact particle manipulation approach using an acoustic robot end-effector, which achieves precise and reliable particle manipulation in 3D space. Specifically, visual feedback is incorporated for micro-particle localization, and a dynamic acoustic field modulation method is proposed for controlling the end-effector. The invisible robot end-effector is localized and characterized through hydrophone scanning. The proposed vision solution is capable of automated trapping and precise translation of micro-particles suspended in a water-based environment and is applicable to particles with both negative and positive impedance contrast against the medium. Experimental results demonstrate the effectiveness of this approach towards automated noncontact particle manipulation with an acoustic robot end-effector.

关键词： Acoustics End effectors Three-dimensional displays Robot kinematics Impedance Phased arrays Acoustic field micro/nano robotics microscopic vision noncontact particle manipulation

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Ultrahigh-Precision Rotational Positioning Under a microscope: nanorobotic System, Modeling, Control, and Applications

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IEEE TRANSACTIONS ON robotics 2018年第2期34卷 497-507页

作者： Lu, Haojian Shang, Wanfeng Xi, Hui Shen, Yajing City Univ Hong Kong Dept Mech & Biomed Engn Kowloon Hong Kong Peoples R China City Univ Hong Kong Shenzhen Res Inst Shenzhen 518172 Peoples R China Shenzhen Inst Geriatr Shenzhen 518020 Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Heilongjiang Peoples R China

High-precision positioning is an essential requirement for sample operation at a small scale. At the current stage, although nanometer-scale accuracy has been achieved for the linear positioning, the rotational positioning (attitude control) is still very challenging and rarely addressed. This paper presents a rotatable nanorobotic system with rotational degrees of freedom first. Then, the system error, i.e., nonaxisymmetrical eccentricity error of the mechanism, is investigated dynamically and its fault model is established. After that, a double-loop servo repetitive controller is accordingly designed based on the circle interpolation strategy. The theoretical analysis and experimental results verify that the rotational positioning accuracy can be controlled up to submicrometers stably, which improves at least one order of magnitude than the current static method. Finally, two application cases are given to highlight the significance of this approach, i.e., surface defect detection from 360 degrees and in situ twisting characterization of 1-D micro/nanomaterial. This research paves a new avenue for the ultrahigh rotational positioning at microscopy environment, which is expected to generate a long-term impact on the micro/nanofields, such as microscopy imaging, material characterization, and so on.

关键词： micro/nano manipulation micro/nano robotics repetitive control rotational positioning

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Piezoelectric Actuation and Motors An Overview of Nonlinearities, Control and Emerging Industrial Applications 3

Piezoelectric Actuation and Motors An Overview of Nonlineari...

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3rd International Conference on Innovative Applications of Computational Intelligence on Power, Energy and Controls with Their Impact on Humanity (CIPECH)

作者： Shome, Saikat Kumar Datta, Uma Mukherjee, Arpita Bhattacharjee, Partha Inst CSIR CMERI Campus Mech Engn Res CSIR Cent Acad Sci & InnovatRes AcSIR Durgapur India

ISBN: (纸本)9781538664728

nanoteehnology refers to the physics and control of particles at sub-nanometer dimensions, enabling atomic level manipulation, imaging and characterization. manipulation of matter at this ultra-precision level has beeome ubiquitous in several genres of science and engineering, compassing multi-faceted industrial applications ranging from biomedical to semiconductor physics. Piezoelectric ceramics have emanated to be the most promising nano positioning actuators and plays a key role of precision mechatronic systems developed to manipulate objects as large travel range with high torque, compact for rapid response and accuracy down to a fraction of atomic radius. This research presents an overview of this interesting technology which is indispensable for accurate positioning applications highlighting upon the fundamentals of its operations, major non-linearities that hinder system performance, and control regimes to overcome the bottlenecks. The study also bridges the gap between the scientific phenomenon of piezoelectric technology and its industrial application through a comprehensive review of piezoelectric motors to highlight its importance in positioning applications, along with state-of-the-art usage of this exciting actuation principle.

关键词： Piezoelectri hysteresis non-linearity micro/nano robotics

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Actuation, Sensing and Control for micro Bio Robots

Actuation, Sensing and Control for Micro Bio Robots

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作者： Wong, Denise University of Pennsylvania

学位级别：Ph.D.

The continuing trend in miniaturization of technology, advancements in micro and nanofabrication and improvements in high-resolution imaging has enabled micro- and meso-scale robots that have many applications. They can be used for micro-assembly, directed drug delivery, microsurgery and high-resolution measurement. In order to create microrobots, microscopic sensors, actuators and controllers are needed. Unique challenges arise when building microscale robots. For inspiration, we look toward highly capable biological organisms, which excel at these length scales. In this dissertation we develop technologies that combine biological components and synthetic components to create actuation, sensing and assembly onboard microrobots. For actuation, we study the dynamics of synthetic micro structures that have been integrated with single-cell biological organisms to provide un-tethered onboard propulsion to the microrobot. For sensing, we integrate synthetically engineered sensor cells to enable a system capable of detecting a change in the local environment, then storing and reporting the information. Furthermore, we develop a bottom-up fabrication method using a macroscopic magnetic robot to direct the assembly of inorganic engineered micro structures. We showcase the capability of this assembly method by demonstrating highly-specified, predictable assembly of microscale building blocks in a semi-autonomous experiment. These magnetic robots can be used to program the assembly of passive building blocks, with the building blocks themselves having the potential to be arbitrarily complex. We extend the magnetic robot actuation work to consider control algorithms for multiple robots by exploiting spatial gradients of magnetic fields. This thesis makes contributions toward actuation, sensing and control of autonomous micro systems and provides technologies that will lead to the development of swarms of microrobots with a suite of manipulation and sensing capabilities working

关键词： Biology Magnetics micro/nano robotics robotics Synthetic Biology

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Electro-Force Display for nano robotics 22

Electro-Force Display for Nano Robotics

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22nd International Conference on Solid-State Sensors, Actuators and microsystems, Transducers 2023

作者： Ichinohe, Kain Sasaki, Ken Hoshino, Takayuki Hirosaki University Graduate School Of Science And Technology Department Of Mechanical Science And Engineering Japan

ISBN: (纸本)9784886864352

microfluidic devices containing an electric field were effective tools for controlling nano robotic systems. However, most of previous devices were incapable of controlling dynamic functions such as an actuation and a computation due to a static electrode. Herein, we present an electro-force display which could change a position and a shape of the electric field pattern dynamically. We performed two types of nano-scaled video games with an interactive joystick controller. As a results, the electro-force display could flick microsphere and freely migrate them along the joystick navigation. This molecular computer interface would contribute to the rapid prototyping of versatile micro/nano robotics systems. © 2023 IEEJ.

关键词： Electron beam Electrostatic force Interactive manipulation micro/nano robotics Molecular computer interface

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Scanning Electron microscope Calibration Using a Multi-Image Non-Linear Minimization Process

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INTERNATIONAL JOURNAL OF OPTOMECHATRONICS 2015年第2期9卷 151-169页

作者： Cui, Le Marchand, Eric Univ Rennes 1 IRISA F-35042 Rennes France

A scanning electron microscope (SEM) calibrating approach based on non-linear minimization procedure is presented in this article1 (1)A part of this article has been published in IEEE International Conference on robotics and Automation (ICRA), 2014. . Both the intrinsic parameters and the extrinsic parameters estimations are achieved simultaneously by minimizing the registration error. The proposed approach considers multi-images of a multi-scale calibration pattern view from different positions and orientations. Since the projection geometry of the scanning electron microscope is different from that of a classical optical sensor, the perspective projection model and the parallel projection model are considered and compared with distortion models. Experiments are realized by varying the position and the orientation of a multi-scale chessboard calibration pattern from 300x to 10,000x. The experimental results show the efficiency and the accuracy of this approach.

关键词： Sensor calibration micro/nano robotics Machine vision on micro/nano scale Scanning Electron microscope Camera projection model

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