Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation

Ning Yu; Qing Shi; Huaping Wang; Xiaoming Liu; Shaoqi Chen; Qiang Huang; Toshio Fukuda

doi:10.1109/WCICA.2014.7053009

Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation

Ning Yu, Qing Shi, Huaping Wang, Xiaoming Liu, Shaoqi Chen, Qiang Huang, Toshio Fukuda

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Robotic nanomanipulation has achieved a wide range of applications on biomedicine and facilitated a revolutionary breakthrough for it. This paper presents a dexterous nanomanipulation system with three robots coordination for the reconstruction of three-dimensional (3D) artificial microstructure. It is set up with two main components. One is the nanomanipulator with 4 degrees of freedom (DOFs) and 30nm operation precision. The other is a vision sub-system developed to provide feedback for coordination control among the three robots. Based on the cooperation, we propose a pick-up method of 2D hydrogel microunits and integrate an assembly strategy to fabricate a 3D substitute for tissue engineering. Pickup of 2D microstructures largely determines the success of 3D assembly. Therefore, effectiveness of pick-up is investigated by kinetic analysis, Matlab simulation and pick-up experiments. These results demonstrate that the proposed method is feasible for circular 2D structure assembly. However, it is not universal for any shapes of 2D units. Thus, three new pick-up methods are discussed to seek for higher flexibility of our system.

Original language	English
Title of host publication	Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1893-1898
Number of pages	6
Edition	March
ISBN (Electronic)	9781479958252
DOIs	https://doi.org/10.1109/WCICA.2014.7053009
Publication status	Published - 2 Mar 2015
Event	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, China Duration: 29 Jun 2014 → 4 Jul 2014

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Number	March
Volume	2015-March

Conference

Conference	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Country/Territory	China
City	Shenyang
Period	29/06/14 → 4/07/14

Keywords

Hydrogel assembly
Multi-robot
Nanomanipulation
Tissue engineering

Access to Document

10.1109/WCICA.2014.7053009

Cite this

Yu, N., Shi, Q., Wang, H., Liu, X., Chen, S., Huang, Q., & Fukuda, T. (2015). Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March ed., pp. 1893-1898). Article 7053009 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2014.7053009

Yu, Ning ; Shi, Qing ; Wang, Huaping et al. / Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation. Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1893-1898 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March).

@inproceedings{7a3475d8ac0740fa946994594d9f2873,

title = "Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation",

abstract = "Robotic nanomanipulation has achieved a wide range of applications on biomedicine and facilitated a revolutionary breakthrough for it. This paper presents a dexterous nanomanipulation system with three robots coordination for the reconstruction of three-dimensional (3D) artificial microstructure. It is set up with two main components. One is the nanomanipulator with 4 degrees of freedom (DOFs) and 30nm operation precision. The other is a vision sub-system developed to provide feedback for coordination control among the three robots. Based on the cooperation, we propose a pick-up method of 2D hydrogel microunits and integrate an assembly strategy to fabricate a 3D substitute for tissue engineering. Pickup of 2D microstructures largely determines the success of 3D assembly. Therefore, effectiveness of pick-up is investigated by kinetic analysis, Matlab simulation and pick-up experiments. These results demonstrate that the proposed method is feasible for circular 2D structure assembly. However, it is not universal for any shapes of 2D units. Thus, three new pick-up methods are discussed to seek for higher flexibility of our system.",

keywords = "Hydrogel assembly, Multi-robot, Nanomanipulation, Tissue engineering",

author = "Ning Yu and Qing Shi and Huaping Wang and Xiaoming Liu and Shaoqi Chen and Qiang Huang and Toshio Fukuda",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",

year = "2015",

month = mar,

day = "2",

doi = "10.1109/WCICA.2014.7053009",

language = "English",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "March",

pages = "1893--1898",

booktitle = "Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014",

address = "United States",

edition = "March",

}

Yu, N, Shi, Q , Wang, H , Liu, X, Chen, S, Huang, Q & Fukuda, T 2015, Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation. in Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March edn, 7053009, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), no. March, vol. 2015-March, Institute of Electrical and Electronics Engineers Inc., pp. 1893-1898, 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014, Shenyang, China, 29/06/14. https://doi.org/10.1109/WCICA.2014.7053009

Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation. / Yu, Ning; Shi, Qing ; Wang, Huaping et al.
Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1893-1898 7053009 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation

AU - Yu, Ning

AU - Shi, Qing

AU - Wang, Huaping

AU - Liu, Xiaoming

AU - Chen, Shaoqi

AU - Huang, Qiang

AU - Fukuda, Toshio

PY - 2015/3/2

Y1 - 2015/3/2

N2 - Robotic nanomanipulation has achieved a wide range of applications on biomedicine and facilitated a revolutionary breakthrough for it. This paper presents a dexterous nanomanipulation system with three robots coordination for the reconstruction of three-dimensional (3D) artificial microstructure. It is set up with two main components. One is the nanomanipulator with 4 degrees of freedom (DOFs) and 30nm operation precision. The other is a vision sub-system developed to provide feedback for coordination control among the three robots. Based on the cooperation, we propose a pick-up method of 2D hydrogel microunits and integrate an assembly strategy to fabricate a 3D substitute for tissue engineering. Pickup of 2D microstructures largely determines the success of 3D assembly. Therefore, effectiveness of pick-up is investigated by kinetic analysis, Matlab simulation and pick-up experiments. These results demonstrate that the proposed method is feasible for circular 2D structure assembly. However, it is not universal for any shapes of 2D units. Thus, three new pick-up methods are discussed to seek for higher flexibility of our system.

AB - Robotic nanomanipulation has achieved a wide range of applications on biomedicine and facilitated a revolutionary breakthrough for it. This paper presents a dexterous nanomanipulation system with three robots coordination for the reconstruction of three-dimensional (3D) artificial microstructure. It is set up with two main components. One is the nanomanipulator with 4 degrees of freedom (DOFs) and 30nm operation precision. The other is a vision sub-system developed to provide feedback for coordination control among the three robots. Based on the cooperation, we propose a pick-up method of 2D hydrogel microunits and integrate an assembly strategy to fabricate a 3D substitute for tissue engineering. Pickup of 2D microstructures largely determines the success of 3D assembly. Therefore, effectiveness of pick-up is investigated by kinetic analysis, Matlab simulation and pick-up experiments. These results demonstrate that the proposed method is feasible for circular 2D structure assembly. However, it is not universal for any shapes of 2D units. Thus, three new pick-up methods are discussed to seek for higher flexibility of our system.

KW - Hydrogel assembly

KW - Multi-robot

KW - Nanomanipulation

KW - Tissue engineering

UR - http://www.scopus.com/inward/record.url?scp=84932182939&partnerID=8YFLogxK

U2 - 10.1109/WCICA.2014.7053009

DO - 10.1109/WCICA.2014.7053009

M3 - Conference contribution

AN - SCOPUS:84932182939

T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

SP - 1893

EP - 1898

BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014

Y2 - 29 June 2014 through 4 July 2014

ER -

Yu N, Shi Q , Wang H , Liu X, Chen S, Huang Q et al. Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1893-1898. 7053009. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March). doi: 10.1109/WCICA.2014.7053009

Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this