KEYWORDS: Transmission electron microscopy, Scanning electron microscopy, Oxygen, Nanorobotics, Electron microscopes, Carbon nanotubes, Nanomanipulation, Nanolithography, Electron beams, Tungsten
Today robotic technology can be developed and advanced a lot from industrial robotic manipulation to the micro and
nano manipulations. We have been proposed "Nano Laboratory" consisted of the capabilities of nanofabrication,
nanoinstrumentaion and nanoassembly to make three dimensional structure, devices and systems in the nanoworld. First
the nanorobotic manipulation system is introduced to realize these capabilities inside a scanning electron microscope
(SEM) and a transmission electron microscope (TEM). Then some precursors are introduced into the working small
space in the nanoworld, so that the cutting, bending and fixing operation in the nanoworld will be realized using
nanomanipulator, electron-bean-induced deposition (EBID) and other methodologies as in the macro world. After
making the three dimensional structure, nano devices such as sensor and actuator can be fabricated.
We propose the optical multi-transmission system using pyroelectric and optical piezoelectric element as the transmitter for the transmission system of micromechanical system We apply the PLZT element to the proposed system as a transmitter. The PLZT element generates the electric charge based on the change of temperature and density of the irradiation of ultraviolet ray. We developed the energy supply system using the pyroelectric effect, and the information transmission system using the optical piezoelectric effect, but that system only shows the. We show the numerical model of the transmission system using the PLZT element and the simulation results of the transmitting the photo energy and information source to the electric function. Then, the experimental results explains the performance of the developed transmission sy stem and the ability of the proposed system.
KEYWORDS: Optical components, Ultraviolet radiation, Piezoelectric effects, Chemical elements, Actuators, Infrared radiation, Robotic systems, Power supplies, Optical actuators, Control systems
We propose the optical multi-transmission system using pyroelectric and optical piezoelectric element as the transmitter, The Optical Energy-Information Transmission System. We apply the PLZT element to the proposed system as the pyroelectric and optical piezoelectric element. The PLZT element generates the electric charge according to the change of temperature and strength of the irradiation of ultraviolet ray. We aim at the energy supply system using the pyroelectric effect, and the information transmission system using the optical piezoelectric effect. We show the numerical model of the transmission system using the PLZT element and the simulation results of the transmitting the photo energy and information source to the electric information. Then, the experimental results explains the performance of the developed transmission system and the ability of proposed system.
In this paper, we propose a novel methodology on noncontact transportation of DNA molecules by dielectrophoretic force and high throughput screening of microbes. First, we utilize the conformational transition in the higher order structure of DNA for transportation. We designed a simple micro electrode-flow system. Experimental demonstration of DNA transportation in the globule state using dielectrophoretic force and direct observation of the DNA molecule in a non- uniform electric field were carried out with fluorescence microscopy. We discuss the experimental results on the motion of the DNA molecule. We show that transportation of DNA with the state of compacted globule is profitable in the future practical application for the separation of giant DNAs such as human gene. Next, we have developed a prototype of Microchannel system for high throughput screening of Escherichia coli. Experimental demonstration of noncontact transportation and manipulation of Escherichia coli by dielectrophoretic force and radiation pressure of laser tweezers were carried out with laser manipulator system. We discussed the basic strategies to improve the working efficiency and the operability of the micromanipulation and presented a new direction in this field. In experiments, we show that transportation and separation of E. coli cells by dielectrophoretic force and optical trapping is useful for future practical application to the high throughput screening of microbes. We showed the possibility of the Microchannel system as one of the biomanipulation and automation systems for DNA sequencing and pharmaceutical field.
Many projects developing the miniaturized autonomous robot have been carried out in the whole world. This paper deals with our challenges developing a miniaturized autonomous robot. The miniaturized autonomous robot is defined as the miniaturized closed-loop system with micro processor, microactuators and microsensors. We have developed the micro autonomous robotic system (MARS) consisting of the microprocessor, microsensors, microactuators, communication units and batteries. The MARS controls itself by the downloaded program supplied through the IR communication system. In this paper, we demonstrate several performance of the MARS, and discuss the properties of the miniaturized autonomous robot.
Recently, so many kinds of micro machines have been developed. Yet, the design and control methodology,of these micro machines is not well established. Difference of dimensions between the macro and micro world causes difference of the influential physical phenomena, motion of the objects, and relative change of the system performance between those worlds. To understand the physical phenomena in the micro world is very important to design, fabricate and control the micro robotic system. For example, attractive forces are dominant in the micro world compared with the gravitational force. Brownian motion is not negligible in the liquid. Since the dominating physical law is completely different between the macro and micro world, we must consider physics in the micro world in designing, fabricating, and controlling miniaturized objects. However, these problems have not been treated so seriously before. In this paper we present a new design and control strategy which will be essential for the microrobotics. Our approach is based on the attractive force reduction. Attractive force reduction methods are mainly focused in this paper. Application example to the micromanipulation is introduced and some experimental results are shown.
This paper deals with the structural proposal of the micro autonomous robotic system, and shows the design of the prototype. We aim at developing the micro robot, which autonomously acts based on its detection, in order to propose a solution to constitute the micro autonomous robotic system. However, as miniaturizing the size, the number of the sensors gets restricted and the information from them becomes lack. Lack of the information makes it difficult to realize an intelligence of quality. Because of that, the micro robotic system needs to develop the simple algorithm. In this paper, we propose the simply logical algorithms to control the actuator, and show the performance of the micro robot controlled by them, and design the Micro Line Trace Robot, which dimension is about 1 cm cube and which moves along the black line on the white-colored ground, and the programmable micro autonomous robot, which dimension is about 2 cm cube and which performs according to the program optionally.
This chapter presents a new structure of intelligent control for robotic motion. This structure is analogous to the human cerebral control structure for intelligent control. Therefore, the system has a hierarchical structure as an integrated approach of Neuromorphic and Symbolic control, including an applied neural network for servo control, a knowledge based approximation, and a fuzzy set theory for a human interface. The neural network in the servo control level is numerical manipulation, while the knowledge based part is symbolic manipulation. In the neuromorphic control, the neural network compensates for the nonlinearities of the system and uncertainty in its environment. The knowledge base part develops control strategies symbolically for the servo level with a-priori knowledge. The fuzzy logic combined with the neural network is used between the servo control level and the knowledge based part to link numerals to symbols and express human skills through learning.
KEYWORDS: Control systems, Robots, Robotic systems, Environmental sensing, Sensors, Amplifiers, Robotics, Algorithm development, Control systems design, Space operations
With the development of robotic technology, many robots have been applied to various fields, such as factories, construction sites, and so on. However, most of the robots have been applied to tasks which require them to repeat the same operation for the known environment automatically. Execution of tasks with unknown environments is still a difficult problem for today's autonomous robot. A robotic system which cooperates with a human operator seems to be an effective approach to solve the problem. In this paper, we are going to discuss a control strategy for a robotic system directly maneuvered by an operator like a human amplifier. The results in this paper could be applied to a telerobotic system. We propose an alternative control algorithm based on `virtual tool' dynamics for the mechanical system. The control algorithm is designed without explicit models of the environment and the human operator. By controlling the mechanical system so as to imitate the dynamics of a tool, the algorithm specifies both the human force amplification ratio and the maneuverability of the system.
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