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On-chilp microparticle manipulation with gel microbead controlled by electromagnetic force

On-chilp microparticle manipulation with gel microbead contr...

引用

2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

作者： Maruyama, Hisataka Arai, Fumihito Fukuda, Toshio Department of Micro-Nano Systems Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan Department of Bioengineering and Robotics Tohoku University Aoba-yama 01 Sendai-City 980-8579 Japan

ISBN: (纸本)1424407176

We developed a novel technique to study individual cell properties on a chip using newly developed cell manipulation by the magnetically driven gel microtool. We used hydrophilic photo-crosslinkable resin for material of the gel microbead. The gel microbead is generated by salting-out which is caused by injecting the electrolyte solution to the resin. We can introduce magnetic beads into the gel microbead when generating the gel microbead. This gel microbead can fuse to other microbead when the gel microbeads are uncured. Moreover, this gel microbead can adhere to the cell physically without any treatment and the gel microbead is easily broken when contacting to a glass plate. Optical tweezers and magnetic force are used to manipulate the gel microbead. A mercury lamp is used to illuminate UV-ray for polymerization of the resin. By using this magnetically driven gel microbead, we succeeded in making functional gel microtool such as detachable cell binding mictotool and manipulating a yeast cell by using magnetic force in the microchip.

关键词： Resins

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Tailor-made multilayer piezoelectric actuator having large displacements and forces produced from lead-free piezoelectric ceramics

Tailor-made multilayer piezoelectric actuator having large d...

引用

2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

作者： Motoo, Kohei Toda, Naoya Fukuda, Toshio Arai, Fumihito Kikuta, Koichi Hirano, Shin-Ichi Matsuno, Takayuki Department of Micro-Nano Systems Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan Department of Bioengineering and Robotics Tohoku University Japan Nagoya University Japan Toyama Prefectural University Japan

ISBN: (纸本)1424407176

We propose tailor-made multilayer piezoelectric actuators (TAMPA) having large displacements and large forces. In existing piezoelectric actuators, production of small, low-cost actuators having large displacements and large forces is difficult to achieve. We solved this problem by combining two bimorph-type piezoelectric elements with both ends simply supported, and stacking several elements on top of each other. Moreover, TAMPA is a tailor-made actuator whose displacement to force ratio can be varied widely by adjusting the size of the bimorph-type piezoelectric elements even when the total size of the actuator is kept constant. In this study, the bimorph-type piezoelectric element was analyzed, and the relationship between the displacement and the force under fixed conditions was experimentally determined. The relationship between the displacement and the force of TAMPA was theoretically derived. The analytical results showed that a TAMPA having dimensions of approximately 10x10x10 mm is capable of generating displacements of several hundred ?m or the force of several N. A prototype was produced and its performance was evaluated. These results agreed well with the analytical results, confirming the validity of the analytical results. Finally, because the lead in PZT can cause environmental problems, a TAMPA was produced that used (K,Na)(Nb,Ta)O 3 piezoelectric ceramics instead of PZT.

关键词： Piezoelectric ceramics

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Introduction of mission unit on information collection by on-rubble mobile platforms of development of rescue robot systems (DDT) project in Japan

Introduction of mission unit on information collection by on...

引用

2006 SICE-ICASE International Joint Conference

作者： Matsuno, Fumitoshi Hirose, Shigeo Akiyama, Iwaki Inoh, Takao Guarnieri, Michele Shiroma, Naoji Kamegawa, Tetsushi Qhno, Kazunori Sato, Noritaka Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan Department of Electrical and Electronic Engineering Shonan Institute of Technology Japan Kawasaki Laboratory International Rescue System Institute Kawasaki Japan Department of Intelligent Systems Engineering Ibaraki University Hitachi Japan Department of System Engineering Okayama University Qkayama Japan Department of Bioengineering and Robotics Tohoku University Sendai Japan

ISBN: (纸本)8995003855

Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster ate. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture, Sports, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin Earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms. © 2006 ICASE.

关键词： Project management

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3D 6DOF manipulation of micro-object using laser trapped microtool

3D 6DOF manipulation of micro-object using laser trapped mic...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： F. Arai Toshiaki Endo R. Yamuchi T. Fukuda Department of Bioengineering and Robotics University of Tohoku Sendai Japan Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan

Laser tweezers is suitable for manipulation of a single microscopic biological object. It can manipulate micro bioobject without contact in the closed space. Single cell manipulation is important for biological research, and 3D 6DOF manipulation (position control and orientation control) is useful technique in many biological experiments. In this paper we propose 3D synchronized laser manipulation system that can manipulate multiple micro-objects along separate trajectories in 3D space. The position as well as the orientation of microbeads can be controlled using this system. We succeeded in achieving orientation control of the microbead by using the laser trapped microtools. We demonstrate experimentally 3D 6DOF manipulation of microbeads

关键词： Position control Laser beams Dielectrophoresis Optical microscopy Micromanipulators Electrodes Shape Optical control Biomedical engineering Orbital robotics

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On-Chip Microparticle Manipulation with Gel Microbead Controlled by Electromagnetic Force

On-Chip Microparticle Manipulation with Gel Microbead Contro...

引用

International Symposium on Micromechatronics and Human Science (MHS)

作者： Hisataka Maruyama Fumihito Arai Toshio Fukuda Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan Department of Bioengineering and Robotics University of Tohoku Sendai Japan

We developed a novel technique to study individual cell properties on a chip using newly developed cell manipulation by the magnetically driven gel microtool. We used hydrophilic photo-crosslinkable resin for material of the gel microbead. The gel microbead is generated by salting-out which is caused by injecting the electrolyte solution to the resin. We can introduce magnetic beads into the gel microbead when generating the gel microbead. This gel microbead can fuse to other microbead when the gel microbeads are uncured. Moreover, this gel microbead can adhere to the cell physically without any treatment and the gel microbead is easily broken when contacting to a glass plate. Optical tweezers and magnetic force are used to manipulate the gel microbead. A mercury lamp is used to illuminate UV-ray for polymerization of the resin. By using this magnetically driven gel microbead, we succeeded in making functional gel microtool such as detachable cell binding microtool and manipulating a yeast cell by using magnetic force in the microchip

关键词： Force control Electromagnetic forces Resins Magnetic forces Magnetic properties Magnetic materials Fuses Glass Optical polymers Lamps

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Nanorobotic Manipulator Controlled Nanowire Growth

Nanorobotic Manipulator Controlled Nanowire Growth

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Pou Liu Fumihito Arai Toshio Fukuda Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan Department of Bioengineering and Robotics University of Tohoku Sendai Japan

We report a single tungsten nanowire successfully grown by controlling the distance between the emitter and substrates with a robotic nanomanipulator moved at a speed of 15 nm/s. When we draw the emitter far from the substrates during electron emission, the longest nanowire at the tip can grow continually, because the electron field at the tip is stronger than the other parts of nanowires. Although multiple nanowires grow at the beginning, the result is that only one nanowire can grow continually at the tip of carbon nanotubes (CNTs). We also show tree-like nanowires on the tip of a CNT without inter-electrode control. These nanowires were induced by field emission, with tungsten hexacarbonyl as precursors. The nanowire's geometric properties were characterized with transmission electron microscopy (TEM) and its composition was detected with TEM energy dispersive X-ray spectrometry (EDS). The EDS spectrum showed that the nanowires are mainly made of tungsten and carbon. The degradation of CNT emitter is an important problem and influences the device's stability and lifetime. We propose that the growth of nanowires can be used for modifying degraded emitters

关键词： Tungsten Electron emission Degradation Manipulators Robots Carbon nanotubes Transmission electron microscopy X-ray detection X-ray detectors Dispersion

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In situ Fabrication and Electric Actuation of Telescoping Nanotube inside TEM through Hybrid Nanorobotic Manipulation System

In situ Fabrication and Electric Actuation of Telescoping Na...

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Masahiro Nakajima Fumihito Arai Toshio Fukuda Department of Micro-Nano Systems Engineering University of Nagoya Aichi Japan Department of Bioengineering and Robotics University of Tohoku Sendai Japan

In situ fabrication and electrostatic actuation of a telescoping multi-walled carbon nanotube are presented. The inner core of the telescoping nanotube is actuated by applied bias voltage with a certain gap inside a vacuum chamber. From modeling analysis, the electrostatic forces are mainly driven force for actuation. At the experimental section, one end opened telescoping multi-walled carbon nanotube (MWCNT) is directly observed inside a transmission electron microscope (TEM). The telescoping MWNT is fabricated by peeling off outer layers through destructive fabrication process. Its inner core is extended and retracted with applied DC bias voltage. These processes have been done through a hybrid nanorobotic manipulation system, which are integrated nanomanipulators inside a scanning electron microscope (SEM) and a TEM. From experimental and analytical results, the possibility of nano-scale actuator applications using telescoping MWCNT with precision has been presented

关键词： Fabrication Scanning electron microscopy Numerical analysis Carbon nanotubes Transmission electron microscopy Nanoscale devices Intelligent robots Electrostatic actuators Voltage Electrostatic analysis

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Piezoelectric Vibration-Type Tactile Sensor with Wide Measurement Range Using Elasticity and Viscosity Change

Piezoelectric Vibration-Type Tactile Sensor with Wide Measur...

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Kohei Motoo Toshio Fukuda Fumihito Arai Takayuki Matsuno Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan Department of Bioengineering and Robotics University of Tohoku Sendai Japan Toyama Prefectural University Toyama Japan

We propose a new tactile sensor utilizing piezoelectric vibration. This tactile sensor has a high sensitivity, wide measurement range, pressure resistance, flexibility, and self-sensing function. This tactile sensor comprises two piezoelectric materials. One is used for the vibration of the sensor element and the other is used for the measurement of the change in mechanical impedance induced by an external force. We achieved the wide measurement range by implementing two ideas. One was to apply the external force to the sensor element through an elastic body and the other was to use two or more modes of vibration. Moreover, for the elastic body, it is preferable to use a material whose elasticity and viscosity are easily changed by an external force, such as a gel. In this study, first, this tactile sensor was analyzed, and then its characteristics were derived. The analytical results qualitatively corresponded to the experimental results. Next, a prototype tactile sensor was fabricated and evaluated. The evaluation results showed that this tactile sensor can measure a pressure of 2.5 Pa or less and a pressure of 10 kPa or more and its pressure resistance is 1 MPa or more

关键词： Vibration measurement Tactile sensors Elasticity Viscosity Electrical resistance measurement Force sensors Pressure measurement Immune system Mechanical sensors Force measurement

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Tailor-made multilayer piezoelectric actuator having large displacements and forces produced from lead-free piezoelectric ceramics

Tailor-made multilayer piezoelectric actuator having large d...

引用

International Symposium on Micromechatronics and Human Science (MHS)

作者： Kohei Motoo Naoya Toda Toshio Fukuda Fumihito Arai Koichi Kikuta Shin-ichi Hirano Takayuki Matsuno Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan Department of Bioengineering and Robotics University of Tohoku Japan University of Nagoya Japan Toyama Prefectural University Japan

We propose tailor-made multilayer piezoelectric actuators (TAMPA) having large displacements and large forces. In existing piezoelectric actuators, production of small, low-cost actuators having large displacements and large forces is difficult to achieve. We solved this problem by combining two bimorph-type piezoelectric elements with both ends simply supported, and stacking several elements on top of each other. Moreover, TAMPA is a tailor-made actuator whose displacement to force ratio can be varied widely by adjusting the size of the bimorph-type piezoelectric elements even when the total size of the actuator is kept constant. In this study, the bimorph-type piezoelectric element was analyzed, and the relationship between the displacement and the force under fixed conditions was experimentally determined. The relationship between the displacement and the force of TAMPA was theoretically derived. The analytical results showed that a TAMPA having dimensions of approximately 10times10times10 mm is capable of generating displacements of several hundred mum or the force of several N. A prototype was produced and its performance was evaluated. These results agreed well with the analytical results, confirming the validity of the analytical results. Finally, because the lead in PZT can cause environmental problems, a TAMPA was produced that used (K,Na)(Nb,Ta)O 3 piezoelectric ceramics instead of PZT

关键词： Nonhomogeneous media Piezoelectric actuators Environmentally friendly manufacturing techniques Ceramics Production Stacking Prototypes Environmental factors systems engineering and theory Biomedical engineering

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Development of a Sensor System for Measuring Tactile Sensation

Development of a Sensor System for Measuring Tactile Sensati...

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IEEE SENSORS

作者： Yoshihiro Tanaka Mami Tanaka Seiji Chonan Department of Mechanical Engineering Nagoya Institute of Technology Nagoya Japan Department of Bioengineering and Robotics Graduate School of Engineering University of Tohoku Sendai Japan Department of Machine Intelligence and Systems Engineering Akita Prefectural University Yurihonjo Akita Japan

This paper presents the development of a sensor system for measuring tactile sensation. First, various tactile feelings of fabrics are collected through questionnaires and the factor analysis is introduced to classify the feelings. Next, an active sensing system using the piezoelectric effect and the pyroelectric effect of a PVDF (polyvinylidene fluoride) film is assembled. The sensor's surface is heated and two kinds of active sensing, contact and slide, are introduced to collect tactile information. Measurement is done on the sample fabrics and features of the collected data are extracted as the sensor outputs. Comparison with tactile feelings shows that the sensor system well describes human tactile perception.

关键词： Sensor systems Fabrics Piezoelectric effect Pyroelectricity Piezoelectric films Assembly systems Tactile sensors Thermal sensors Data mining Sensor phenomena and characterization

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