Simultaneous Multiple-Nanowire Motion Control, Planning, and Manipulation Under Electric Fields in Fluid Suspension
Simultaneous Multiple-Nanowire Motion Control, Planning, and Manipulation Under Electric Fields in Fluid Suspension
复制标题
流体悬浮液电场下的同步多纳米线运动控制、规划和操纵
DOI：
10.1109/tase.2016.2595760
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发表时间：
2018
影响因子：
5.6
通讯作者：
J. Shan
中科院分区：
文献类型：
--
作者：
Kaiyan Yu;J. Yi;J. Shan
为了充分利用功能性纳米器件的巨大潜力，通过有效引导和操纵多个纳米线并控制方向到特定空间位置来实现其制造自动化至关重要。在本文中，我们提出了在液体悬浮液中同时操纵多个纳米线的运动规划和控制算法。运动规划和控制是为由一组简单的通用电极驱动的微流体装置而设计的。我们首先提出了一种运动控制算法，可在受控的电泳力下同时沿着不同的所需轨迹引导多个纳米线。然后提出两阶段运动规划算法来为每个单独的纳米线生成所需的轨迹。数值模拟和实验结果都展示了使用电场同时引导和操纵多根纳米线的运动规划和控制设计的性能。从业者注意事项——多根纳米线的自动操纵和操纵将使纳米器件的可扩展组装能够用于各种应用。本文提出了一种基于电场的设计，用于液体悬浮液中多根纳米线的同步运动规划和控制。该设计使用一组电极阵列在电泳力的作用下驱动和定向多条纳米线从起始位置到目标位置。首先提出了流体悬浮液中多个纳米线的运动控制，以沿着给定的轨迹同时引导纳米线。然后，我们提出了一种两阶段运动规划算法，为所有纳米线生成总最短距离轨迹，同时避免碰撞。我们提供了广泛的模拟和实验来演示多根纳米线的运动规划和控制以形成各种几何图案。研究结果将有助于为操纵纳米线构建纳米器件的可扩展自动化方法奠定基础。
To fully take advantage of the enormous potential of functional nanodevices, it is crucial to automate their manufacture with efficient steering and manipulation of multiple nanowires with controlled orientations to specific spatial locations. In this paper, we present motion planning and control algorithms for simultaneously steering multiple nanowires in liquid suspension. The motion planning and control is designed for a microfluidic device that is actuated by a simple generic set of electrodes. We first present a motion control algorithm to simultaneously steer multiple nanowires along different desired trajectories under controlled electrophoretic forces. A two-stage motion planning algorithm is then presented to generate the desired trajectory for each individual nanowire. Both numerical simulation and experimental results are presented to demonstrate the performance of the motion planning and control design using electric fields to simultaneously steer and manipulate multiple nanowires.Note to Practitioners—The automated steering and manipulation of multiple nanowires would enable the scalable assembly of nanodevices for a variety of applications. This paper presents an electric-field-based design for simultaneous motion planning and control of multiple nanowires in liquid suspension. The design uses a set of electrode arrays to drive and orient multiple nanowires from their starting locations to targeted locations under electrophoretic forces. The motion control of multiple nanowires in fluid suspension is first presented to steer the nanowires simultaneously along the given trajectories. Then, we present a two-stage motion planning algorithm to generate the total shortest distance trajectories for all nanowires while avoiding collision. We present extensive simulations and experiments to demonstrate the motion planning and control of multiple nanowires to form various geometric patterns. The results will help provide a foundation for scalable automated methods for manipulating nanowires to build nanodevices.