A. Helser

VRPN: a device-independent, network-transparent VR peripheral system

The Virtual-Reality Peripheral Network (VRPN) system provides a device-independent and network-transparent interface to virtual-reality peripherals. VRPNs application of factoring by function and of layering in the context of devices produces an interface that is novel and powerful. VRPN also integrates a wide range of known advanced techniques into a publicly-available system. These techniques benefit both direct VRPN users and those who implement other applications that make use of VR peripherals.

Nanometre-scale rolling and sliding of carbon nanotubes

Understanding the relative motion of objects in contact is essential for controlling macroscopic lubrication and adhesion, for comprehending biological macromolecular interfaces, and for developing submicrometre-scale electromechanical devices,. An object undergoing lateral motion while in contact with a second object can either roll or slide. The resulting energy loss and mechanical wear depend largely on which mode of motion occurs. At the macroscopic scale, rolling is preferred over sliding, and it is expected to have an equally important role in the microscopic domain. Although progress has been made in our understanding of the dynamics of sliding at the atomic level, we have no comparable insight into rolling owing to a lack of experimental data on microscopic length scales. Here we produce controlled rolling of carbon nanotubes on graphite surfaces using an atomic force microscope. We measure the accompanying energy loss and compare this with sliding. Moreover, by reproducibly rolling a nanotube to expose different faces to the substrate and to an external probe, we are able to study the object over its complete surface.

In situ resistance measurements of strained carbon nanotubes

We investigate the response of multiwalled carbon nanotubes to mechanical strain applied with an atomic force microscope probe. We find in some samples, changes in the contact resistance dominate the measured resistance change. In others, strain large enough to fracture the tube can be applied without a significant change in the contact resistance. In this case, we observe that enough force is applied to break the tube without any change in resistance until the tube fails. We have also manipulated the ends of the broken tube back in contact with each other, re-establishing a finite resistance. We observe that, in this broken configuration, the resistance of the sample is tunable to values 15–350 kΩ greater than prior to breaking.

Controlled placement of an individual carbon nanotube onto a microelectromechanical structure

We report on the precise placement of a single carbon nanotube (CNT) onto a microlectromechanial system (MEMS) structure. Using a hybrid atomic force microscope/scanning electron microscope (AFM/SEM) system, an individual multiwalled CNT was retrieved from a cartridge by the AFM tip, translated to a MEMS device, and then placed across a gap between an actuating and a stationary structure. Progress toward a resistance versus stress/strain measurement on a CNT will be discussed, including SEM images of a MEMS structure we have designed specifically for such a measurement.

Nanomanipulation Experiments Exploring Frictional and Mechanical Properties of Carbon Nanotubes

: In many cases in experimental science, the instrument interface becomes a limiting factor in the efficacy of carrying out unusual experiments or prevents the complete understanding of the acquired data. We have developed an advanced interface for scanning probe microscopy (SPM) that allows intuitive rendering of data sets and natural instrument control, all in real time. The interface, called the nanoManipulator, combines a high-performance graphics engine for real-time data rendering with a haptic interface that places the human operator directly into the feedback loop that controls surface manipulations. Using a hand-held stylus, the operator moves the stylus laterally, directing the movement of the SPM tip across the sample. The haptic interface enables the user to feel the surface by forcing the stylus to move up and down in response to the surface topography. In this way the user understands the immediate location of the tip on the sample and can quickly and precisely maneuver nanometer-scale objects. We have applied this interface to studies of the mechanical properties of nanotubes and to substrate-nanotube interactions. The mechanical properties of carbon nanotubes have been demonstrated to be extraordinary. They have an elastic modulus rivaling that of the stiffest material known, diamond, while maintaining a remarkable resistance to fracture. We have used atomic-force microscopy (AFM) to manipulate the nanotubes through a series of configuration that reveal buckling behavior and high-strain resilience. Nanotubes also serve as test objects for nanometer-scale contact mechanics. We have found that nanotubes will roll under certain conditions. This has been determined through changes in the images and through the acquisition of lateral force during manipulation. The lateral force data show periodic stick-slip behavior with a periodicity matching the perimeter of the nanotube.

Adding force display to a stereoscopic head-tracked projection display

We present the nanoWorkbench (nWB), which adds haptic feedback to a stereoscopic, head-tracked projection display to produce a system in which the user can both see and feel virtual objects. We describe the nWBs design parameters, size and layout, including the reasons for our choices. Solutions to the problems of tracker interference, calibration and occlusion are presented.

Managing collaboration in the nanomanipulator

We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a distributed, collaborative virtual environment system supporting remote scientific collaboration between users of the nanoManipulator interface to atomic force microscopes. This paper describes the entire collaboration system, but focuses on the shared nanoManipulator (nM) application. To be readily accepted by users, the shared nM application had to have the same high level of interactivity as the single-user system and include all the functions of the single-user system. In addition the application had to support a users ability to interleave working privately and working collaboratively. Based on our experience developing the CnM, we present: a method of analyzing applications to characterize the concurrency requirements for sharing data between collaborating sites, examples of data structures that support distributed collaboration and interleaved private and collaborative work, and guidelines for selecting appropriate synchronization and concurrency control schemes.

Mechanical and optical manipulation of porphyrin rings at the submicrometre scale

Scanning probe microscopes (SPMs) and especially the atomic force microscope (AFM) can be used as tools for modifying surface structures on the submicrometre and even nanometre scale. For this purpose an advanced interface has been developed to facilitate these manipulations and greatly increase the number of possible applications. In this paper this interface (the nanoManipulator, developed at the University of North Carolina at Chapel Hill) is implemented on a combined AFM-confocal microscope. This setup allows AFM imaging, manipulations and fluorescence imaging of the same area on the sample. The new setup is tested on ringlike structures of a porphyrin derivative (BP6). A small amount of the fluorescent material could be displaced with the AFM tip. A special tool (sweep mode) allowed a modification of around 130 nm, which was afterwards detectable with the confocal microscope. The resolution attainable in these kind of experiments could go down below 100 nm and is primarily determined by the tip and sample geometry. Comparable with this experiment is the application of a near-field scanning optical microscope (NSOM) to make photochemical modifications. Using the excitation power coming from the NSOM probe the fluorescence can be quenched by bleaching a selected area instead of displacing the material. Application on the BP6 rings led to a modification of 280 nm wide. AFM can perform modifications on a smaller scale but is less selective than NSOM. Optical investigation of the changes after AFM manipulation can give more elaborate information on the modifications. This will extend the possible applications of the techniques and may ultimately go down to the single-molecule level.

Hands-on tools for nanotechnology

We describe some mechanical and electrical measurements on carbon nanotubes. We discuss electron beam lithography techniques to form metal wire contacts to the as-found nanometer structures. Starting from a unique collaborative perspective, we suggest some improved design and alignment methods.

Managing collaboration in the nanoManipulator

We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high level of interactivity as the single user system and the application had to support a users ability to interleave working privately and working collaboratively. The paper describes the entire collaboration system, but focuses on the shared nanoManipulator application. Based on our experience developing the CnM, we present: a method of analyzing applications to characterize the requirements for sharing data between collaborating sites, examples of data structures that support collaboration, and guidelines for selecting appropriate synchronization and concurrency control schemes.