DAVID ANDERSONRYAN DUNN
BRYON ELSTONELIZABETH FISCHER
ROBERT MENNA
GUIDE : BILL NOWAKCUSTOMER: DR. MICHAEL SCHRLAU
(ME DEPARTMENT)
P13375 : Computer Controlled Hydraulic
Nanomanipulator
Agenda
Project OverviewMain Focus of ImprovementsSystem ArchitectureDesign ConceptObstacles OvercomeEngineering SpecificationsItems Still in ProgressSuggestions for Future WorkLessons LearnedAcknowledgementsQuestions
Project Overview
Nanomanipulators: High-precision positioning instruments used with high magnification microscopes to interact with objects on the nanometer scale.
Nanomanipulator Uses:• Biomedical science - elucidate the behavior of individual living cells • Educational purposes – research in higher education or increase
interest in science and technology in high schools Prohibitive Factors: • Geographical location• Financial limitations
The goal of this project is to generate a nanomanipulator of comparable performance to those commercially available at a fraction of the cost.
Main Focus of Improvements
Reduce BacklashIncrease SpeedProvide Remote Access CapabilitiesStop System Leakage Issue
System Architecture
System Architecture: Remote Control Subsystem
Design Concept (Software)
Manipulator “Server” GUI runs on PC connected to manipulator and camera.
Control “Client” GUI runs on remote user’s PC.Control GUI connects and sends velocity vector to
manipulator for a desired movement.Real-time video feedback provided.Velocity vector transmitted to the microcontroller.The controller now operates each axis
independently and continuously through desired movement.
Design Concept (Software)
Manipulator Host (NBIL Inverted Microscope
computer)
Client (Rob’s Mac OS X)
Integrated System Demo
Video
Comments: Very minimal delay observed in software (video,
control). Observed backlash and overshoot.
Design Concept (Mechanical)
Replace previous manipulator cylinders with smaller lower friction option
Improve mounting configurationReplace tubing and compression fittings
Obstacles Overcome
Initial cylinder selection (MQP) leaked around piston Attempted to modify cylinders with external o-ring mount
and reduced return pressure Attempted to use an alternative fluid (vegetable oil) Selected new cylinders with internal o-ring (CQP)
The best alternative from above was determined through testing of critical functions such as speed and backlash
Costs Time – had to deviate from initial Gantt Chart Cost of supplies for development stage
Cylinder Selection
Cylinder Choice: CQS12-10smTwo samples of double acting CQS cylinders
were provided – these were modified to perform as single acting cylinders
Additional cylinders were ordered to have a cylinder for the z-axis
New manipulator had to be designed
Additional Change
Refilling process: Drastically improved as far as efficiency in process No longer uses pan-fill technique
Refilling no longer necessary every single use since CQS cylinders have not appeared to lose air
Design Concept (Mechanical) Cont.
Full System Setup
Engineering Specifications
# Specification (metric)
Unit of Measur
eTarget Value
Theoretical
ValueActual Value
Previous System
S1 Size of manipulator (h x w x l)
cm 8 x 8 x 8 13 x 12 x 12 13 x 12 x
1213 x 13 x
13
S2 Weight of manipulator Grams 550 400 400 689
S3 Development cost $ 1,352 1,441.81 1,441.81 2,128
S4 Cost to manufacture after development
$ 1000 -1500 1,413.01 1,413.01 1,470
S5 Limits of travel in each direction cm >0.25 0.5 0.5 1.1
S6 Speed of travel mm/sec 0.5 .088 0.072 0.04S7 Resolution nm < 100 86.74 3550 56S8 Sampling Rate Hz 60 0 NA
S9 Level of Difficulty of Use Binary Easy Easy Easy Medium
Engineering Specifications Continued
# Specification (metric)
Unit of Measur
eTarget Value
Theoretical
ValueActual Value
Previous System
S10
Supported Control Software Binary Yes Yes Yes Yes
S11
Visual Feed Sampling Rate Hz 60 60 60 NA
S12
System is Controlled by a Device (Remotely and Locally)
Binary Yes Yes Yes Locally
S13
System Provides Additional Feedback
Subjective Yes Yes Yes No
S14
System Provides Calibration Binary Yes Yes Yes No
S15 System Backlash Revolutio
ns <3 0 0.48 25
S16 Video Latency
Frames Per
Second>30 30 30 NA
S17 Control Latency ms <200 ~200 ~100 NA
Resolution Commentary
Items Still in Progress
User’s ManualProportional Integral ControlImprove Assembly Stability
Modify individual axis mountsEnsure Software RepeatabilityCompletion of Remote GUI Non-critical
FunctionsFinal System TestingUpdate Information on EdgeProposed Completion Date: 12/18/2013
Suggestions for Future Work
Further improve method of securing nanomanipulator (still using magnetic stand)
Change from sliding guide rails to linear ball bearing rails
Improve system resolutionProgram Efficiency (clean up code)Touchscreen Support (ie: iPad)Improved image streaming algorithm
Lessons Learned
Dealing with Suppliers Discuss items for purchase with the company’s engineers, not
just sales Communication regarding small quantities can be difficult
Give suppliers a sense of the future of your project – can help with discussion regarding quotes
ALWAYS follow up on any request for information or productImportance of risk management
Need to have multiple back up plansIf not impractical, take time early on to recreate prior
results – especially in specs you are seeking to improve
Machining ALWAYS takes longer than expected
Acknowledgements
The team would like to thank the following individuals for their help and guidance throughout this project.
Guide: Bill NowakCustomer: Dr. SchrlauCharlie TabbNicholas HenselTeam P13371Team P12371Tim Patane of Component Supply
QUESTIONS?