Kostadin Kostadinov

Control Approach for Structured Piezo-Actuated Micro/Nano Manipulators

This paper considers a new method for integration of piezo-electric actuators and motion amplification elements (MAE) into one component, subjected here to be telecontrolled as micro/nano manipulator. In this case development of a control approach for such micro and nano manipulators is the object of this paper. The used piezo-ceramic disc is segmented according the desired task space. It is characterized with non-linear behavior while the segments are controlled either separately or in combination. The main problems concerning the integrated structure-control design optimization approach is defined and considered in order to realize a telemanipulation control of the desired micro/nano operations. An appropriate hybrid telemanipulation approach is developed to improve the efficiency of any micro- and nano manipulation and operation for which the operator has neither experience nor knowledge. It combines the advantages of the known two teleoperated control approaches — direct and task-oriented teleoperation.

Structured piezo-ceramic mechatronic handling devices for micro and nano manipulations

This paper presents the development of a methodology and technology for the appropriate selection and creation of mechatronic handling devices (MHD) able to accomplish certain micro- and/or nano-operation task. As basis actuator, piezo ceramic structures integrated into the mechatronic device are utilized and developed here. Two applications, in bioscience and electrochemistry are foreseen for a demonstration phase. Specific multilayer design approach of piezo-actuated mechatronic handling devices for micro- and nano-operations was proposed based on the method for piezo structures synthesis. Comparison study of the developed mechatronic handling device prototypes is performed based on the obtained simulation and experimental results. Teleoperated control approach is developed based on the impedance scaling technique.

Force sensor for cell injection and characterization

This paper presents the basics idea and principles of a force sensor for cell injection and characterization of mechanical properties of cells. It utilizes fluidics, piezo resistive MEMS, and piezo actuated mechanics to provide sub-micronewton sensitivity in vertical injection mode. The prototyping, calibration and investigation of the proposed sensor are also presented in brief. Main advantages and drawbacks are also discussed.

On the Forces Between Micro and Nano Objects and a Gripper

The authors study the van der Waals force, between the gripper jaw and an object-cubical, spherical and conical in shape, situated at a distance L of closest approach from it. The generic and most general case is considered, when the materials of the working jaw of the gripper and the particle are made of different materials strongly preferring the liquid phase of the fluid being at temperature T and chemical potentialm. The contributions due to the standard van der Waals, as well as of the retarded Casimir van der Waals interactions are considered. They concluded that strongly depends on the contrast, at given fixed T and m, between the physical properties of the fluid and the material of the arms of the gripper and the particle. In addition, as expected, strongly depends on the shape of the object, its size, and the distance L between it and the working jaw of the gripper. Their approach can be applied to any nonpolar fluid.

Cell Membranes Under Hydrostatic Pressure Subjected to Micro‐Injection

The work is concerned with the determination of the mechanical behaviour of cell membranes under uniform hydrostatic pressure subject to micro‐injections. For that purpose, assuming that the shape of the deformed cell membrane is axisymmetric a variational statement of the problem is developed on the ground of the so‐called spontaneous curvature model. In this setting, the cell membrane is regarded as an axisymmetric surface in the three‐dimensional Euclidean space providing a stationary value of the shape energy functional under the constraint of fixed total area and fixed enclosed volume. The corresponding Euler‐Lagrange equations and natural boundary conditions are derived, analyzed and used to express the forces and moments in the membrane. Several examples of such surfaces representing possible shapes of cell membranes under pressure subjected to micro injection are determined numerically.

Web-Based Synthesis of Robot Structures for Micro and Nano Manipulations

This paper describes how the web technologies are utilized for a robot system synthesis. A web application is created for automation of the synthesis of closed structures for micro- and nano-applications, utilizing the advantages tense piezo-actuators and closed robot kinematical structures. The algorithm, integrated into the developed web based application, offers a synthesis of robot kinematic chains without extensive knowledge in this domain. The aim is to facilitate synthesis of such kind of kinematic chains from specialists who will generate optimal solutions for automation and robotisation of the requested micro- and nano-process.

Model-based design optimization of soft fiber-reinforced bending actuators

In this paper we present an analytical model for soft fiber-reinforced bending actuators consisting of a single air chamber made of elastomeric material and reinforced with an inextensible fiber winding. The model explicitly links the input pressure applied to the actuator to the resulting bending angle in free space and to the contact force when the actuator tip is in contact with an external rigid obstacle. The model predictions are compared to available experimental data for hemi-circular actuator with uniform wall thicknesses. The validated model is then used for design optimization of actuators wall thicknesses which represent key geometric parameters. The model predicts that for a fixed air chamber radius, actuator with optimized wall thicknesses requires about 48 % lower input pressure to achieve a prescribed bending angle compared to non-optimized actuator with uniform wall thicknesses. In addition, the optimized actuator generates about 18 % stronger contact force between the distal tip and a rigid obstacle compared to the contact force generated by actuator with uniform wall thicknesses.

Optomechatronic System For Automated Intra Cytoplasmic Sperm Injection

Abstract This paper presents a complex optomechatronic system for In-Vitro Fertilization (IVF), offering almost complete automation of the Intra Cytoplasmic Sperm Injection (ICSI) procedure. The compound parts and sub-systems, as well as some of the computer vision algorithms, are described below. System capabilities for ICSI have been demonstrated on infertile oocyte cells.

A Robot for Cell Injection: Modeling, Design and Experimental Validation

This work deals with modelling and experimenting of a compliant serial-parallel robot. Using Pseudo-Rigid-Body Modelling PRBM of elastic structures, a kinematics and stiffness model of a serial-parallel structure has been built. Several approaches for pre-tensioning of a parallel structure with elastic joints were developed in order to eliminate backlashes and improve the performance of its actuators. In this work a robot is designed to inject biological cells with size in the range of 10-30µm. The approaches used for pre-tensioning of the robot have been analysed and subjected to numerical evaluation. Assessing the mechanical parameters of the tensed manipulator has been performed using the following methods: PRBM and Finite Element Analysis FEA. An experimental set-up for testing a robot prototype has been developed, using an optical system and correlation technique for digital image processing. The experimental results obtained are compared to data received from the numerical experiment.