Problem Statement: Broaden participation and collaboration in nanoscale science by creating low cost, remotely accessible instrumentation.

Phase II: Nanomanipulator Design

Situation Update What is a nanomanipulator?

Ultra high precision position instrument Why do we want to make one?

Broaden participation and collaboration in nanoscale science

How will this be accomplished Developing a commercially competitive manipulator that

is low cost and controllable over the internet What does it mean to be “Phase II”

Given entire body of Phase I Equipment to use/repurpose More is expected in terms of progress as a result

Mission Statement: Increase access to nanoscience by developing a low cost, remote controllable Nanomanipulator.

Versatility

Port

able

Easy

to se

t up

Easy

to m

aint

ain

Cost

Low

cos

t

Cost

to m

anuf

actu

re e

stim

ated

Remote Control

Cont

rolla

ble

via

inte

rnet

Keep

s equ

ipm

ent s

afe

with

in

oper

ation

Stat

us o

f mac

hine

is v

isibl

e to

re

mot

e us

ers

Performance

Adeq

uate

reso

lutio

n

Adeq

uate

rang

e of

moti

on

Min

imal

drift

Use

s sta

ndar

d pi

pette

User Friendly

Easy

to o

pera

te

Relia

ble

mov

emen

ts

Ope

rate

s with

littl

e ba

ckla

sh

Cont

rolla

ble

spee

d of

ope

ratio

n

Know

n po

sition

Constraints Manipulator must have potential to be

manufacturable for less then $1000 Team must build off phase one

equipment or justify to primary customer a redesign

System must be transportable Training must be complete before using

any high cost instrumentation, including the provided microscope or any of the lab’s manipulators

BenchmarkingUnit Project Goal

SpecificationEppendorf

Peizoelectric Manipulator

Narishige Hydrulic

ManipulatorPhase 1 SD equipment

Resolution 100 nm 40 nm 200 um 150 NM*

Range of Travel 1 cm 2 cm** 3 cm** 90 mm

Backlash 1 um > 20 nm 50 um * 300 um*

Computer Control Yes Sort Of No Yes

Remote Control Yes No No No

Cost > $2500 $20,394 $7,350 2,100

*: Experimental estimates to a 3 sigma relation**: Includes coarse and fine lumped movement

Eppendorf Piezoelectric Manipulator

BenchmarkingUnit Project Goal

SpecificationEppendorf

Peizoelectric Manipulator

Narishige Hydrulic

ManipulatorPhase 1 SD equipment

Resolution 100 nm 40 nm 200 nm 50-150 nm*

Range of Travel 1 cm 2 cm** 3 cm** 90 mm

Backlash 1 um > 20 nm 50 um * 300 um*

Computer Control Yes Sort Of No Yes

Remote Control Yes No No No

Cost > $2500 $20,394 $7,350 2,100

*: Experimental estimates to a 3 sigma relation**: Includes coarse and fine lumped movement

Narishige Hydraulic Manipulator

BenchmarkingUnit Project Goal

SpecificationEppendorf

Peizoelectric Manipulator

Narishige Hydrulic

ManipulatorPhase 1 SD equipment

Resolution 100 nm 40 nm 200 nm 50-150 nm*

Range of Travel 1 cm 2 cm** 3 cm** 90 mm

Backlash 1 um > 20 nm 50 um * 300 um*

Computer Control Yes Sort Of No Yes

Remote Control Yes No No No

Cost > $2500 $20,394 $7,350 2,100

*: Experimental estimates to a 3 sigma relation**: Includes coarse and fine lumped movement

Current Phase 1 Equipment

BenchmarkingUnit Project Goal

SpecificationEppendorf

Peizoelectric Manipulator

Narishige Hydrulic

ManipulatorPhase 1 SD equipment

Resolution 100 nm 40 nm 200 nm 50-150 nm*

Range of Travel 1 cm 2 cm** 3 cm** 90 mm

Backlash 1 um > 20 nm 50 um * 300 um*

Computer Control Yes Sort Of No Yes

Remote Control Yes No No No

Cost > $2500 $20,394 $7,350 2,100

*: Experimental estimates to a 3 sigma relation**: Includes coarse and fine lumped movement

Specification List  CN Source Specification (metric) Unit of Measure Target Value

S1 CN2 Size (h x w x l) cm 8 x 8 x 8

S2 CN2 Weight (of manipulator) Grams (oz) 550 (20)

S3 CN4 Development cost $ < 2,500

S4 CN5 Cost to manufacture after development $ < 1000

S5 CN1,12 Limits of travel in each direction cm 1

S6 CN16 Speed of travel m/sec TBD

S7 CN11 Resolution μm < 0.1

S8 CN14 System backlash μm < 1

S9 CN13 System drift μm/min < .02

S10 CN2,3 System is easily assembled/dissabembled Survey Yes

S11 CN6, 15,16,17 control single sampling rate Hz 60

Specification List Cont.  CN Source Specification (metric) Unit of Measure Target Value

S12 CN2, 13,14, 17 Ease of use Survey Yes

S13 CN9 Supported software Binary Yes

S14 CN10,17 Visual feed sampling rate for microscope camera Hz 60

S15 CN3,7 Systems full range of motion is safely operated in Binary Yes

S16 CN2 System mounts standard pipette holder Binary Yes

S17 CN7,8 Visual feed rate for lab livestream fps 25

S18 CN6,7,8 Remote control mimics local terminal control Survey Yes

S19 CN6 Remote control system must be overrullable locally Binay Yes

VoE to VoC Specs 1 - 10VoC to VoE matrix

Size (h x w x l) Weight (of manipulator)

Development cost

Cost to manufacture

after development

Limits of travel in each

directionSpeed of

travel Resolution System backlash System drift

System is easily

assembled/disassembled

S1 S2 S3 S4 S5 S6 S7 S8 S9 S10

Manipulator moves in 3 axis CN1 X

Manipulator is portable and easy to set up CN2X X X

Manipulator is easy to maintain CN3X X X X X

Manipulator is low cost CN4 X X X

Manipulators cost to manufacture is estimated CN5 X X

Manipulator is controllable remotely via the internet CN6

Remote operation is safe to equipment CN7

Machine status is visible to remote users CN8

Software used is RIT owned, custom developed or readily available freeware. CN9

Must provide visual feedback through microscope camera CN10

Manipulator has adequate resolution CN11 X X X X X

Manipulator has adequate range of motion CN12 X X X X X

Manipulator has minimal drift CN13 X

Manipulator operate with little backlash CN14 X

Manipulator must be controlled via a joystick CN15

Manipulator has controllable speed and resolution CN16 X X X X X

Manipulator is controllable via a GUI CN17

VoE to VoC Specs 11-19VoC to VoE matrix

control single sampling rate Ease of use Supported

software

Visual feed sampling rate for microscope

camera

Systems full range of motion

is safely operated in

System mounts standard

pipette holder

Visual feed rate for lab live

stream

Remote control mimics local

terminal control

Remote control system must be

overruleable locally

S11 S12 S13 S14 S15 S16 S17 S18 S19

Manipulator moves in 3 axis CN1

Manipulator is portable and easy to set up CN2 X X X X

Manipulator is easy to maintain CN3 X X X

Manipulator is low cost CN4

Manipulators cost to manufacture is estimated CN5

Manipulator is controllable remotely via the internet CN6X X X X X X X X

Remote operation is safe to equipment CN7 X X X X X

Machine status is visible to remote users CN8 X X X X

Software used is RIT owned, custom developed or readily available freeware. CN9

X

Must provide visual feedback through microscope camera CN10 X X

Manipulator has adequate resolution CN11 X

Manipulator has adequate range of motion CN12 X

Manipulator has minimal drift CN13 X

Manipulator operate with little backlash CN14 X

Manipulator must be controlled via a joystick CN15 X

Manipulator has controllable speed and resolution CN16 X X

Manipulator is controllable via a GUI CN17X X X X

Possible Solution Using the Current Phase 1 equipment and

adding functionality For this solution the team would elect to reuse,

repurpose or redesign most the phase 1 equipment provided to them. Phase 1 provided all the equipment necessary for a lead screw driven, motor controlled hydraulic manipulator. Key aspects of this solution would include Lead screw, Hydraulic pump, 3 axis manipulator Motor driver and Computer control scheme Remote control scheme Visual feed back scheme

Staffing CE1/EE1 responsible for

Computer control of motors and sensors

Developing circuitry to control motors

Selecting sensors and integrating sensors to improve performance

Integrating microscope camera feed back

SE1/CE2 responsible for Remote control

implementation Setting up required support

back end for web implementation

Selection of web cam and other components necessary

Integrating microscope camera feed back

ME1 responsible for Redesign efforts on current

system Lead on hydraulic design efforts Improving backlash of system Improving assembly/disassembly

times Ensuring that changes to system

do not adversely effect performance

Machining of new components IE1/ME2 responsible for

Manufacturability analysis and work

Responsible for machining of components

Responsible for ensuring those components are

Lead on mechanical integration of various components

Statistical performance analysis (true resolution estimations)

Project Reflection Project requires significantly more

staffing if team chooses to no use Phase I equipment and is never the less expected to meet all goals

Some specifications (backlash, resolution) might be limited significantly by budgetary constraints

Difficult project and optimal staff would relevant co-op experience Not the case for every engineer