Cargando…

Visual Servoing-Based Nanorobotic System for Automated Electrical Characterization of Nanotubes inside SEM

The maneuvering and electrical characterization of nanotubes inside a scanning electron microscope (SEM) has historically been time-consuming and laborious for operators. Before the development of automated nanomanipulation-enabled techniques for the performance of pick-and-place and characterizatio...

Descripción completa

Detalles Bibliográficos
Autores principales: Ding, Huiyang, Shi, Chaoyang, Ma, Li, Yang, Zhan, Wang, Mingyu, Wang, Yaqiong, Chen, Tao, Sun, Lining, Toshio, Fukuda
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5948737/
https://www.ncbi.nlm.nih.gov/pubmed/29642495
http://dx.doi.org/10.3390/s18041137
_version_ 1783322618435207168
author Ding, Huiyang
Shi, Chaoyang
Ma, Li
Yang, Zhan
Wang, Mingyu
Wang, Yaqiong
Chen, Tao
Sun, Lining
Toshio, Fukuda
author_facet Ding, Huiyang
Shi, Chaoyang
Ma, Li
Yang, Zhan
Wang, Mingyu
Wang, Yaqiong
Chen, Tao
Sun, Lining
Toshio, Fukuda
author_sort Ding, Huiyang
collection PubMed
description The maneuvering and electrical characterization of nanotubes inside a scanning electron microscope (SEM) has historically been time-consuming and laborious for operators. Before the development of automated nanomanipulation-enabled techniques for the performance of pick-and-place and characterization of nanoobjects, these functions were still incomplete and largely operated manually. In this paper, a dual-probe nanomanipulation system vision-based feedback was demonstrated to automatically perform 3D nanomanipulation tasks, to investigate the electrical characterization of nanotubes. The XY-position of Atomic Force Microscope (AFM) cantilevers and individual carbon nanotubes (CNTs) were precisely recognized via a series of image processing operations. A coarse-to-fine positioning strategy in the Z-direction was applied through the combination of the sharpness-based depth estimation method and the contact-detection method. The use of nanorobotic magnification-regulated speed aided in improving working efficiency and reliability. Additionally, we proposed automated alignment of manipulator axes by visual tracking the movement trajectory of the end effector. The experimental results indicate the system’s capability for automated measurement electrical characterization of CNTs. Furthermore, the automated nanomanipulation system has the potential to be extended to other nanomanipulation tasks.
format Online
Article
Text
id pubmed-5948737
institution National Center for Biotechnology Information
language English
publishDate 2018
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-59487372018-05-17 Visual Servoing-Based Nanorobotic System for Automated Electrical Characterization of Nanotubes inside SEM Ding, Huiyang Shi, Chaoyang Ma, Li Yang, Zhan Wang, Mingyu Wang, Yaqiong Chen, Tao Sun, Lining Toshio, Fukuda Sensors (Basel) Article The maneuvering and electrical characterization of nanotubes inside a scanning electron microscope (SEM) has historically been time-consuming and laborious for operators. Before the development of automated nanomanipulation-enabled techniques for the performance of pick-and-place and characterization of nanoobjects, these functions were still incomplete and largely operated manually. In this paper, a dual-probe nanomanipulation system vision-based feedback was demonstrated to automatically perform 3D nanomanipulation tasks, to investigate the electrical characterization of nanotubes. The XY-position of Atomic Force Microscope (AFM) cantilevers and individual carbon nanotubes (CNTs) were precisely recognized via a series of image processing operations. A coarse-to-fine positioning strategy in the Z-direction was applied through the combination of the sharpness-based depth estimation method and the contact-detection method. The use of nanorobotic magnification-regulated speed aided in improving working efficiency and reliability. Additionally, we proposed automated alignment of manipulator axes by visual tracking the movement trajectory of the end effector. The experimental results indicate the system’s capability for automated measurement electrical characterization of CNTs. Furthermore, the automated nanomanipulation system has the potential to be extended to other nanomanipulation tasks. MDPI 2018-04-08 /pmc/articles/PMC5948737/ /pubmed/29642495 http://dx.doi.org/10.3390/s18041137 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Ding, Huiyang
Shi, Chaoyang
Ma, Li
Yang, Zhan
Wang, Mingyu
Wang, Yaqiong
Chen, Tao
Sun, Lining
Toshio, Fukuda
Visual Servoing-Based Nanorobotic System for Automated Electrical Characterization of Nanotubes inside SEM
title Visual Servoing-Based Nanorobotic System for Automated Electrical Characterization of Nanotubes inside SEM
title_full Visual Servoing-Based Nanorobotic System for Automated Electrical Characterization of Nanotubes inside SEM
title_fullStr Visual Servoing-Based Nanorobotic System for Automated Electrical Characterization of Nanotubes inside SEM
title_full_unstemmed Visual Servoing-Based Nanorobotic System for Automated Electrical Characterization of Nanotubes inside SEM
title_short Visual Servoing-Based Nanorobotic System for Automated Electrical Characterization of Nanotubes inside SEM
title_sort visual servoing-based nanorobotic system for automated electrical characterization of nanotubes inside sem
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5948737/
https://www.ncbi.nlm.nih.gov/pubmed/29642495
http://dx.doi.org/10.3390/s18041137
work_keys_str_mv AT dinghuiyang visualservoingbasednanoroboticsystemforautomatedelectricalcharacterizationofnanotubesinsidesem
AT shichaoyang visualservoingbasednanoroboticsystemforautomatedelectricalcharacterizationofnanotubesinsidesem
AT mali visualservoingbasednanoroboticsystemforautomatedelectricalcharacterizationofnanotubesinsidesem
AT yangzhan visualservoingbasednanoroboticsystemforautomatedelectricalcharacterizationofnanotubesinsidesem
AT wangmingyu visualservoingbasednanoroboticsystemforautomatedelectricalcharacterizationofnanotubesinsidesem
AT wangyaqiong visualservoingbasednanoroboticsystemforautomatedelectricalcharacterizationofnanotubesinsidesem
AT chentao visualservoingbasednanoroboticsystemforautomatedelectricalcharacterizationofnanotubesinsidesem
AT sunlining visualservoingbasednanoroboticsystemforautomatedelectricalcharacterizationofnanotubesinsidesem
AT toshiofukuda visualservoingbasednanoroboticsystemforautomatedelectricalcharacterizationofnanotubesinsidesem