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?