Research of Teleoperated Nano Particle Manipulation using Virtual Reality Interface.

本研究提出并实现了遥操作纳米机器人系统。本研究的目的是建立一个直接的遥操作系统，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。基于这一理念，选择AFM作为从器件，利用纳米级至μ m的精密定位系统和纳米级的压阻悬臂梁构建AFM，实现纳米传感与操作。定位系统是执行样品位移所必需的。压电悬臂梁具有结构紧凑、价格低廉等优点，是本课题研究的对象。三维虚拟现实视觉反馈和单自由度触觉装置构成了系统的人机交互部分。3D虚拟现实Feed 关于我们 图形系统将三维拓扑图像作为阴影图像显示给用户，并允许图像旋转和缩放。利用单自由度主装置显示原子间垂直于AFM针尖方向的作用力，构建了一个模拟纳米世界中垂直方向作用力的纳米模拟器。使用纳米模拟器进行实验，以验证远程操作接触模式。悬臂梁动力学建模为一个弹簧质量系统假设平坦的样品表面。在非接触模式下采用Lennard-Jones力模型，在接触模式下采用JKR力模型来模拟纳米力的动力学行为。半自动推样首先，使用1DOF主设备（Tele-Touching）将悬臂移动到样品表面。之后，利用3D VR Feedback图形和鼠标作为界面，在XY平面内实现了悬臂梁粒子的推送.自动推样利用3D VR图形和鼠标作为界面，自动完成样品从接近到推样的3D操作，实验中使用了乳胶颗粒（100nm × 2 μ m）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