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Automated cell characterization by a nanohandling robot station

Automated cell characterization by a nanohandling robot stat...

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Mediterranean Conference on control and Automation (MED)

作者： Florian Krohs Saskia Hagemann Sergej Fatikow Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany

Current research work on the development of a nanohandling robot station for automated characterization of biological cells is presented. The station consists of a sample piezo scanning stage with three degrees of freedom (DoF) and a three-axes nanomanipulator that is equipped with a piezoresistive atomic force microscope (AFM) probe as an endeffector. Thus, the endeffector can be used both to measure mechanical properties of the sample and as a force sensor giving a feedback signal to the underlying control system. While the endeffector can be positioned coarsely by the nanomanipulator, fine positioning of the sample is performed by the piezo stage. As a visual sensor for the station an inverted optical microscope is utilized. The setup is enhanced by a second nano-manipulator equipped with a pipette for injection/extraction tasks or patch clamp purposes. Alternatively, a second piezoresistive AFM probe can be used as an endeffector for the second nanomanipulator. The station provides the opportunity to automatically determine a region-of-interest (i.e. a single cell) by means of object recognition in previously acquired images from the optical microscope. Next, the endeffector is brought into proximity to the sample, and an automated, mechanical characterization of the cell is performed. First experiments cover recordings of single force-distance curves to gain information on elasticity and adhesion of the cell. Using the fast piezo stage, complete adhesion or elasticity maps of the region-of-interest can be obtained. This mechanical characterization delivers valuable information about cell mechanics concerning cell to cell contact or cell motility. It is also of interest in oncology, since tumor cells tend to have a different elasticity than healthy cells. The use of a second nanomanipulator surpasses the capabilities of a standard AFM system, since it enables the station to cover areas as deoxyribonucleic acid (DNA) extraction, measurements of reactions to drug

关键词： Robotics and automation Nanobioscience Atomic force microscopy Optical microscopy Optical feedback Optical sensors Elasticity Piezoresistance Force sensors Probes

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Nanohandling automation within a scanning electron microscope

Nanohandling automation within a scanning electron microscop...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： T. Wich T. Sievers M. Jahnisch H. Hulsen S. Fatikow Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany

In this paper, current research regarding a semi-automated handling station for TEM-lamella is described. The development of this station started with automated handling of microparts as described in many previous publications. However, within this project, we were able to apply current research to an economically important task for the semiconductor industry - TEM-lamella handling. This task consists of automatic tracking of the lamella, picking it up from the silicon wafer and placing it on a TEM-grid.

关键词： Automation Scanning electron microscopy Circuit testing Hardware Electronics industry Electronic equipment testing Electrostatics Low earth orbit satellites Electron microscopy control engineering

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Towards automated robot-based nanohandling

Towards automated robot-based nanohandling

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Chinese control and Decision Conference, CCDC

作者： S. Fatikow T. Wortmann M. Mikczinski C. Dahmen C. Stolle Division Microrobotics and Control Engineering (AMiR) University of Oldenburg Germany

One of the key challenges of microsystem- and nanotechnologies is the automation of robot-based nanomanipulation. However, there is limited sensor feedback due to lack of appropriate sensors. Sensor feedback is required for repeatable actuator movements from macro- down to the nanoscale. This complicates the design of reliable automation processes. In this paper, the development of an automated robot-based toolbox for cell injection and handling is presented. This toolbox includes several sensor methods, bridging several orders of magnitude as feedback for automation. A non-linear support vector machine (SVM) is applied for classification of the viability of cells as feedback for quality control. A visual servoing algorithm for position tracking of the injection needle as well as an injection force sensor have been developed. First automation results and the control system are explained.

关键词： Robotics and automation Feedback Robot sensing systems Support vector machines Support vector machine classification Actuators Design automation Quality control Visual servoing Needles

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Recognition and tracking of magnetic nanobots using MRI

Recognition and tracking of magnetic nanobots using MRI

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International Symposium on Optomechatronic Technologies, ISOT

作者： Tim Wortmann Christian Dahmen Christian Geldmann Sergej Fatikow Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany

By switching the gradient fields of a clinical magnetic resonance imaging (MRI) scanner, magnetic objects may be moved inside the cardiovascular system of the human body. The main field of application is seen in targeted drug therapy or embolization. A successful navigation of such devices requires continuous position determination. The occurrence of magnetic susceptibility artifacts can be exploited for this purpose. This article studies the effect of magnetic microscopic objects and nanoparticles on the process of MRI image formation in several imaging sequences. An MRI simulator based on evaluation of the Bloch equation is presented and applied for the simulation of artifact formation. Also, artifact properties are studied by experiments carried out on clinical MRI scanners, using magnetic objects placed into an agarose gel phantom. The transferability of the results from the gel phantom to a real tissue environment is proven. Based on the results, a two-stage procedure for visual servoing is proposed. It is initialized by object detection, carried out in a 3D scan. Object tracking is performed on fast 2D scans by template matching. The slice position is adjusted automatically in a feedback loop in order to follow object movements perpendicular to the image plane.

关键词： Magnetic resonance imaging Containers Magnetic susceptibility Mathematical model Three dimensional displays Steel Computational modeling

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Development of a tactile low-cost microgripper with integrated force sensor

Development of a tactile low-cost microgripper with integrat...

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IEEE Conference on control Technology and Applications (CCTA)

作者： M. Kemper Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany

This paper describes recent results of the development of a novel tactile force-sensing microgripper based on a flexure hinge fabricated in stainless steel by wired electro discharge machining (EDM). The gripper was equipped with a commercial semiconductor strain-gauge and a piezo stack. The microgripper is an end-effector of a microrobot developed to grasp and manipulate tiny objects. Acquiring force-information with the microgripper is of fundamental importance in order to achieve the dexterity and sensing capabilities required to perform micromanipulation or assembly tasks.

关键词： Grippers Force sensors Robotic assembly Fasteners Manufacturing automation Steel Machining Fabrication Prototypes Manufacturing industries

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CameraMan - Robot Cell with Flexible Vision Feedback for Automated Nanohandling inside SEMs

CameraMan - Robot Cell with Flexible Vision Feedback for Aut...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Daniel Jasper Christian Dahmen Sergej Fatikow Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany

This paper presents a concept for a nanohandling robot cell with flexible visual feedback that can work inside an SEM's vacuum chamber and enable fully automated nanohandling and assembly. Therefore, rail-based robots position miniature video microscopes to observe the process from different angles and with different magnifications. Image processing techniques can be used to recognize and track objects as well as three dimensional information can be obtained by stereo vision and by the microscope's focus. The mechanical feasibility and advantages of the CameraMan concept are analyzed with a prototypic implementation of a nanohandling robot cell. To control this highly non-linear system a self-learning controller is used, challenges for cooperatively controlling the multi-robot system are outlined and high-level automation is discussed.

关键词： Robot vision systems Robotics and automation Feedback Automatic control Nonlinear control systems control systems Scanning electron microscopy Robotic assembly Image processing Image recognition

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Automatic stitching of micrographs using local features

Automatic stitching of micrographs using local features

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International Symposium on Optomechatronic Technologies, ISOT

作者： Tim Wortmann Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany

Combination of single images to panoramic views is a popular application of image stitching in digital photography. By applying the same principle to micrographs, a number of common limitations of microscopes such as aberrations or limited depth of field may be overcome. This paper adapts recent methods of image registration for different application areas in light- and electron microscopy. Especially the suitability of SIFT and SURF features for micrograph correspondence analysis is in the focus of investigations. Test scenarios covering a wide range of magnifications and image contents are discussed. Additionally, the acquisition of the single scans and finally the complete generation of high-resolution panoramic micrographs may be automated. The proposed system is not only suitable as a tool for surface inspections, but also as a navigational aid for micro-and nanorobotic applications.

关键词： Feature extraction Detectors Carbon Scanning electron microscopy Cavity resonators Silicon

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Automated high-speed nanopositioning inside scanning electron microscopes

Automated high-speed nanopositioning inside scanning electro...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Daniel Jasper Sergej Fatikow Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany

This paper describes a new, automated positioning system that uses the scanning electron microscope as a fast, high-resolution sensor system. With two line scans and low computational overhead, the exact position of a reference pattern is determined. Using a customized external scan generator and scanning algorithm, the bottleneck of image acquisition is bypassed and the position tracking system can reach update rates of 1 kHz. Using imaged-based object recognition algorithms for automated tracking-initialization and a tight integration into the control infrastructure of mobile nanohandling robots, fully automated nanopositioning is possible. A positioning accuracy below 10 nm is achieved in a tungsten cathode-based microscope and positioning operations along well-defined trajectories are completed in a few tens of microseconds.

关键词： Pixel Scanning electron microscopy Brightness Robot sensing systems Target tracking

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Towards Automated Handling on the Nanoscale

Towards Automated Handling on the Nanoscale

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), vol.1

作者： Sergej Fatikow Thomas Wich Florian Krohs Christian Dahmen Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany

Automated robot-based nanomanipulation is one of the key challenges of microsystem technology and nanotechnology. controlled, reproducible operation on the nano-scale will enable high-throughput manufacturing of revolutionary products and open up new application fields. The ultimate goal of these research activities is the development of automated nanomanipulation processes to build a bridge between existing precise handling strategies for micro- and nano-scale objects and aspired high-throughput fabrication of micro- and nanosystems. This paper describes our current work on different problems of nanohandling automation, both by nanorobots inside a scanning electron microscope and by an atomic force microscope applied as a nanorobot.

关键词： Force Scanning electron microscopy Grippers Silicon Nanobioscience Nanoscale devices Materials

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Microrobot system for automatic nanohandling inside a scanning electron microscope

Microrobot system for automatic nanohandling inside a scanni...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S. Fatikow T. Wich H. H.lsen T. Sievers M. Jahnisch Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany

Current research work on the development of an automated nanohandling cell in a scanning electron microscope (SEM) is presented. An experimental setup is shown, in which two micro robots cooperate in the vacuum chamber of an SEM. A client-server control system that can integrate various microrobots and sensors has been developed and evaluated by automatic handling of TEM (transmission electron microscope) lamellae. The robots are controlled in a closed-loop way by using images from several CCD cameras and from the SEM. Algorithms for real-time processing of noisy SEM images have been implemented and tested. Finally, the experiment on automatic handling of TEM lamellae inside an SEM is described

关键词： Scanning electron microscopy Transmission electron microscopy Robot sensing systems Robotics and automation Automatic control control systems Sensor systems Robot control Charge coupled devices Robot vision systems

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