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