Dogan Sinan Haliyo

Manipulation of micro-objects using adhesion forces and dynamical effects

Describes a dynamical strategy for releasing micro objects picked-up by means of adhesion forces. While sticking effects are used in order to capture an object by adequately choosing a high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial effects of both the end-effector and the manipulated object to overbalance adhesion forces and to achieve the release. Simulations show that for this purpose, accelerations as high as 10/sup 5/ m/s/sup 2/ are needed. Successful manipulation of a 40 /spl mu/m radius glass sphere is experimented.

Haptic Teleoperation for 3-D Microassembly of Spherical Objects

In this paper, teleoperated 3-D microassembly of spherical objects with haptic feedback is presented. A dual-tip gripper controlled through a haptic interface is used to pick-and-place microspheres (diameter: 4-6 μm). The proposed approach to align the gripper with the spheres is based on a user-driven exploration of the object to be manipulated. The haptic feedback is based on amplitude measurements from cantilevers in dynamic mode. That is, the operator perceives the contact while freely exploring the manipulation area. The data recorded during this exploration are processed online and generate a virtual guide to pull the user to the optimum contact point, allowing correct positioning of the dual tips. A preliminary scan is not necessary to compute the haptic feedback, which increases the intuitiveness of our system. For the pick-and-place operation, two haptic feedback schemes are proposed to either provide users with information about microscale interactions occurring during the operation, or to assist them while performing the task. As experimental validation, a two-layer pyramid composed of four microspheres is built in ambient conditions.

A versatile atomic force microscope for three-dimensional nanomanipulation and nanoassembly

A conventional atomic force microscope (AFM) has been successfully applied to manipulating nanoparticles (zero-dimensional), nanowires (one-dimensional) or nanotubes (one- or two-dimensional) by widely used pushing or pulling operations on a single surface. However, pick-and-place nanomanipulation in air is still a challenge. In this research, a modified AFM, called a three-dimensional (3D) manipulation force microscope (3DMFM), was developed to realize 3D nanomanipulation in air. This system consists of two individually actuated cantilevers with protruding tips that are facing each other, constructing a nanotweezer for the pick-and-place nanomanipulation. Before manipulation, one of the cantilevers is employed to position nano-objects and locate the tip of the other cantilever by image scanning. During the manipulation, these two cantilevers work collaboratively as a nanotweezer to grasp, transport and place the nano-objects with real-time force sensing. The manipulation capabilities of the nanotweezer were demonstrated by grabbing and manipulating silicon nanowires to build 3D nanowire crosses. 3D nanomanipulation and nanoassembly performed in air could become feasible through this newly developed 3DMFM.

Parallel imaging/manipulation force microscopy

Conventional atomic force microscope nanomanipulation is inefficient because of the serial imaging/manipulation operation. We present here a parallel imaging/manipulation force microscope (PIMM) to improve manipulation efficiency. The PIMM is equipped with two individually actuated cantilevers with protrudent tips. One cantilever acts as an imaging sensor by scanning nano-objects and tip of the other cantilever that is used as a manipulating tool. Two manipulation schemes were introduced to fulfill parallel imaging/manipulation tasks with normal and high-speed image scan, respectively. Performance of the PIMM was validated by the parallel imaging/manipulation of nanoparticles to form a nanopattern with a commonly used pushing operation.

Enhanced Accuracy of Force Application for AFM Nanomanipulation Using Nonlinear Calibration of Optical Levers

The atomic force microscope (AFM) has been widely used as a nano-effector with a function of force sensing to detect interaction forces between an AFM tip and a sample, thereby controlling the process of the nanomanipulation. However, both the extent and accuracy of force application are significantly limited by the nonlinearity of the commonly used optical lever with a nonlinear position-sensitive detector (PSD). In order to compensate the nonlinearity of the optical lever, a nonlinear calibration method is presented. This method applies the nonlinear curve fit to a full-range position-voltage response of the photodiode, obtaining a continuous function of its voltage-related sensitivity. Thus, interaction forces can be defined as integrals of this sensitivity function between any two responses of photodiode voltage outputs, instead of rough transformation with a single conversion factor. The lateral position-voltage response of the photodiode, a universally acknowledged puzzle, was directly characterized by an accurately calibrated force sensor composed of a tippless piezoresistive microcantilever and corresponding electronics, regardless of any knowledge of the cantilevers and laser measuring system. Experiments using a rectangular cantilever (normal spring constant 0.24 N/m) demonstrated that the proposed nonlinear calibration method restrained the sensitivity error of normal position-voltage responses to 3.6% and extended the force application range.

A Stable and Transparent Microscale Force Feedback Teleoperation System

Scaled force feedback teleoperation is a promising approach to assist an operator engaged in a microscale task. Several systems were previously described to achieve such purpose, but much room was left for improvement, especially with regard to the specificities of bilateral coupling with very large scaling coefficients. Here, the objective is to render at human-scale haptic information available at the microscale, and to provide scaled teleoperation that simultaneously achieves stability and transparency. An active force sensor and a novel haptic interface were interconnected to form a complete teleoperation chain through a direct, two-channel scheme. Stability was ensured by enforcing passivity in the slave and in the master subsystems. Several experiments were carried out to demonstrate the capabilities of the system. The first experiment involved noncontact magnetic interaction. A second set of experiments demonstrated the penetration of a thin-glass probe in a water droplet where the operator interactively felt capillary forces.

Dynamical strategies for micromanipulation by adhesion

This paper describes a dynamical strategy for releasing objects picked-up by means of adhesion forces. Indeed, if sticking effects are used in order to capture an object by adequately choosing high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial effects of the end-effector and the manipulated object to overbalance adhesion forces and to achieve the release. For this purpose, accelerations as high as 105m/s2 are needed. Successful manipulation of a 40micrometers radius glass sphere is presented.

Pick-and-place nanomanipulation with three-dimensional manipulation force microscopy

Applications of the conventional atomic force microscope (AFM) succeeded in manipulating nanoparticles, nanowires or nanotubes by widely used pushing or pulling operations on a single plane. However, pick-and-place nanomanipulation is still a challenge in the air. In this paper, a modified AFM, called three-dimensional (3D) manipulation force microscope (3DMFM) was developed, aiming to achieve the pick-and-place in the air. This system mainly consists of two microcantilevers and each is quipped with a nanopositioning device and an optical lever, constructing a nanotweezer with capabilities of picking and releasing nanoobjects with force sensing. Before the 3D manipulation, one of the cantilevers is employed to position nanoobjects and locate the tip of another cantilever by image scanning, then these two cantilevers fit together as a nanotweezer to grasp, transport and place the nanoobjects with real-time force sensing. In pick-and-place experiments, silicon nanowires (SiNMs) with different diameters were manipulated and 3D nanowire crosses were achieved. 3D nanomanipulation and nanoassembly in the air could become feasible through the newly developed 3DMFM.

Tele-manipulation by adhesion of micro objects

The micromanipulation system developed in Laboratoire de Robotique de Paris (LRP) is described in this paper. This system, called [mu]MAD, is based on the use of adhesion forces and inertial effects for handling of objects which range from 1 to 100 /spl mu/m. Moreover, enhanced user interaction is provided through a 6 dof haptic interface for force feedback remote handling. Some advanced features of [mu]MAD such as mechanical characterizations and sorting are also presented.

DNA as Building Block for Self-Assembly of Micro-components

Biological processes, and in particular DNA hybridization, offer the potential to form the basis for the assembly of devices at micro- and nano-scales. Our aim is to imitate nature to self-assemble micro-scale parts (<100 microns) using DNA hybridization attachment process. In this paper, a new mechanical DNA hybridization modelling scheme is proposed in order to determine the feasibility of such processes. We expose here how and why DNA hybridization process can provide a good bound to self assemble components, and how molecular modelling methods allow to understand the physical mechanism of this process. Furthermore, the strength of DNA hybridization can be measured and optimised to corroborate and validate the modelling state using an experimental technology based on atomic force microscopy.