Research of Teleoperated Nano Particle Manipulation using Virtual Reality Interface.

研究提出并实现了远程纳米机器人系统。远程纳米机器人系统允许远程操作纳米级物体操纵。本研究的目的是建立一个直接遥操作系统，使计算机科学家、物理学家、化学家、分子生物学家和材料科学家能够进行跨学科的研究。根据这一理念，我们选择AFM作为辅助装置，因为它可以适用于包括生物样品在内的所有材料。采用nm至μm精密定位系统和nm精密压阻悬臂梁构建了用于纳米传感和操纵的原子力显微镜。定位系统是进行样品位移所必需的。选择压电悬臂是因为它具有我们应用所必需的紧凑性和廉价性。构建了三维虚拟现实视觉反馈和一自由度触觉装置，构成了系统的人机界面部分。3D虚拟现实反馈图形系统将三维拓扑图像以阴影图像的形式显示给用户，并允许图像旋转和缩放。1-DOF主装置显示原子间力垂直于原子力显微镜尖端。构建了一个模拟纳米世界中垂直方向力的纳米模拟器。利用纳米模拟器对远程操作接触方式进行了验证实验。悬臂梁动力学建模为一个弹簧质量系统，假设样品表面平坦。采用非接触模式下的Lennard-Jones力模型和接触模式下的JKR力模型对纳米力动力学进行了建模。为了验证系统的有效性，我们进行了以下实验：首先，利用1自由度主装置（远程触摸）将悬臂梁移动到样品表面。之后，以3D VR反馈图形和鼠标为界面，在XY平面上进行悬臂粒子推入。自动推样采用3d VR图形，鼠标为界面，自动完成从接近到推样的3d操作。实验采用胶乳颗粒（100nm ~ 2μm）和硅表面。少

The research proposed and implemented the Tele-Nanorobotics system. The Tele-Nanorobotics system allows teleoperated nano scale object manipulation.The aim of this study is to construct a direct teleoperation system which will enable interdisciplinary research among computer scientists, physicists, chemists, molecular biologists, and material scientists. In accordance with this philosophy, AFM was selected to be used as slave device since it maybe applied to all materials including the biological samples.A nm toμm Precision positioning system and nm precision piezo-resistive cantilever was used to construct the AFM for nano sensing and manipulation. The positioning system is necessary to perform sample displacements. Piezo-electric cantilever was selected because it has the compactness and cheapness necessary for our applications.3-D Virtual Reality Visual Feedback and 1DOF haptic device has been constructed to compose the human interface part of the system. The 3D Virtual Reality Feed … More back Graphic system displays the 3-D topology image as a shaded image to the user and allows image rotation and zooming. The 1-DOF master device displays the interatomic force normal to the AFM tip.A Nano Simulator modeling the vertical direction forces in the nano world was constructed. Experiments to validate the tele-operation contact mode were performed using the Nano Simulator. The cantilever dynamics is modeled as a spring mass system assuming flat sample surface. The Lennard-Jones force model in the non-contact mode and JKR model in the contact mode are also used to model the nano force dynamics.The next experiments were conducted for validating the system :1. Semi-automatic sample pushingFirst, the cantilever is moved till the sample surface using the 1DOF master device (Tele-Touching). After it, cantilever particle pushing in the XY plane using the 3D VR Feedback graphics and mouse as interface.2. Automatic sample pushingThe sample 3d manipulation from approaching to pushing task is performed automatically using the 3D VR graphics and mouse as interface.Latex particle (100nm〜2μm) and silicon surface was used in the experiment. Less