Automated Robotic Manipulation of Individual Colloidal Particles Using Vision-Based Control
Automated Robotic Manipulation of Individual Colloidal Particles Using Vision-Based Control
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DOI：
10.1109/tmech.2014.2361271
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发表时间：
2015-10-01
影响因子：
6.4
通讯作者：
Fatikow, Sergej
中科院分区：
文献类型：
--
作者：
Zimmermann, Soeren;Tiemerding, Tobias;Fatikow, Sergej
由于力缩放规律和在该尺度上有限的控制可能性，使用机器人装置对微纳米物体进行自动操作构成了一个主要挑战。本文提出了一种新的开发方法，用于自动操作单个胶体粒子，使用专用的双探针设置在扫描电子显微镜内。基于定制的探针几何形状，该装置允许可靠的拾取和释放单个颗粒的序列。应用显微镜提供的视觉反馈的图像处理，可以直接和快速地控制复杂的操作程序，从而允许全自动校准序列。实验结果表明，该过程具有很高的重复性和迄今为止无与伦比的精度。在进一步的应用场景中，强调了该技术的优点和局限性。
Automated manipulation of micro- and nanosized objects using robotic setups constitutes a major challenge due to the force-scaling laws and the limited control possibilities on that scale. This paper presents a new developed approach for automated manipulation of individual colloidal particles using a dedicated dualprobe setup inside a scanning electron microscope. Based on tailored probe geometries, the setup allows for reliable pick-up and release sequences of individual particles. Applying image processing of the visual feedback provided by the microscope enables for direct and fast control of the complex manipulation routines and thus allows for fully automated alignment sequences. Experimental results reveal a high repeatability of the process with hitherto unrivaled precision. The advantages and limits of this technique are highlighted with respect to further application scenarios.