Nanorobotics

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Toshio Fukuda - One of the best experts on this subject based on the ideXlab platform.

  • Cooperation Method of Symmetrically Distributed Multi-Nanorobotic Manipulators Inside SEM for Nanodevice Constructing
    2018 IEEE 13th Annual International Conference on Nano Micro Engineered and Molecular Systems (NEMS), 2018
    Co-Authors: Mingyu Wang, Yaqiong Wang, Zhan Yang, Tao Chen, Lining Sun, Toshio Fukuda
    Abstract:

    This paper presented a series of cooperation strategies of symmetrically distributed multi-nanorobotic manipulators according to different tasks during nanodevice fabrication inside scanning electron microscopy (SEM). For constructing carbon nanotube (CNT) based nanodevice such as carbon nanotube field effect transistor (CNTFET), the mainly assembly processes implemented by different nanorobotic manipulators were discussed. Manipulation strategies for each task during assembly were established based on nanorobotic manipulation system. Experiments were designed and carried out to evaluate the effectiveness of different manipulation strategies designed for multi-task. The results shown that the designed manipulation strategies was adapted for the nanorobotic manipulation system during CNT based nanodevice assembly.

  • mechatronic development and vision feedback control of a Nanorobotics manipulation system inside sem for nanodevice assembly
    Sensors, 2016
    Co-Authors: Zhan Yang, Masahiro Nakajima, Yaqiong Wang, Tao Chen, Lining Sun, Bin Yang, Toshio Fukuda
    Abstract:

    Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a Nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed Nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this Nanorobotics manipulation system.

  • Grand Challenges in Bioengineered Nanorobotics for Cancer Therapy
    IEEE Transactions on Biomedical Engineering, 2013
    Co-Authors: Scott C. Lenaghan, William R. Hamel, Ning Xi, Yongzhong Wang, Toshio Fukuda, Tzyh-jong Tarn, Mingjun Zhang
    Abstract:

    One of the grand challenges currently facing engineering, life sciences, and medicine is the development of fully functional nanorobots capable of sensing, decision making, and actuation. These nanorobots may aid in cancer therapy, site-specific drug delivery, circulating diagnostics, advanced surgery, and tissue repair. In this paper, we will discuss, from a bioinspired perspective, the challenges currently facing Nanorobotics, including core design, propulsion and power generation, sensing, actuation, control, decision making, and system integration. Using strategies inspired from microorganisms, we will discuss a potential bioengineered nanorobot for cancer therapy.

  • auto nanomanipulation system for single cell mechanical property characterization inside an environmental sem
    Intelligent Robots and Systems, 2012
    Co-Authors: Yajing Shen, Masahiro Nakajima, Michio Homma, Toshio Fukuda
    Abstract:

    Single cell's mechanical property characterization is important for the understanding of the cell's condition and activity. In this paper, an automatic nanomanipulation system was proposed for single cell mechanical property characterization inside an environmental scanning electron microscopy (ESEM). A nanoneedle was fabricated from AFM (atomic force microscopy) cantilever by FIB (focused ion beam) etching technique. The nanoneedle was fixed to a nanorobotic manipulator, which has three degrees of freedom, i.e. X, Y and Z translation. Single yeast cell was put on an tungsten probe substrate inside ESEM. The position information of the nanoneedle and single cell were used as the feedback signals to control the movement of the nanorobotic manipulator. Finally, the stiffness of the single cell was measured using the nanoneedle driven by the automatic nanomanipulation system.

  • bringing the nanolaboratory inside electron microscopes
    IEEE Nanotechnology Magazine, 2008
    Co-Authors: Toshio Fukuda, Masahiro Nakajima, Pou Liu, Mohd Ridzuan Ahmad
    Abstract:

    A nanolaboratory is one of the systems to realize various nanoscale fabrications and assemblies to develop novel nanodevices to integrate borderless technologies based on a nanorobotic manipulation system. We have presented the nanolaboratory inside electron microscopes including a transmission electron microscope (TEM), scanning electron microscope (SEM), and environmental-SEM (E-SEM) for three-dimensional (3D) and real-time nanomanipulation, nanoinstrumentation, and nanoassembly. The following is a presentation of our current work of nanomanipulation and nanoassembly based on the hybrid nanorobotic manipulation inside a TEM and an SEM toward carbon nanotube (CNT) applications. Single cell stiffness measurement has been also presented based on the nanorobotic manipulation system inside an E-SEM.

Sylvain Martel - One of the best experts on this subject based on the ideXlab platform.

  • MRI-based nanorobotic platform for the control of magnetic nanoparticles and flagellated bacteria for target interventions in human capillaries
    2016
    Co-Authors: Sylvain Martel, Ouajdi Felfoul, Arnaud Chanu, Samer Tamaz, Mahmood Mohammadi, Martin Mankiewicz, Nasr Tabatabaei, Nanorobotics Laboratory, In Human Capillaries
    Abstract:

    Medical Nanorobotics exploits nanometer-scale components and phe-nomena with robotics to provide new medical diagnostic and inter-ventional tools. Here, the architecture and main specifications of a novel medical interventional platform based on Nanorobotics and nanomedicine, and suited to target regions inaccessible to catheteri-zation, are described. The robotic platform uses magnetic resonance imaging (MRI) for feeding back information to a controller responsi-ble for the real-time control and navigation along pre-planned paths in the blood vessels of untethered magnetic carriers, nanorobots, and/or magnetotactic bacteria (MTB) loaded with sensory or thera-peutic agents acting like a wireless robotic arm, manipulator, or other extensions necessary to perform specific remote tasks. Unlike known magnetic targeting methods, the present platform allows us to reach locations deep in the human body while enhancing targeting efficacy using real-time navigational or trajectory control. We describe sev-eral versions of the platform upgraded through additional software and hardware modules allowing enhanced targeting efficacy and op-erations in very difficult locations such as tumoral lesions only acces-sible through complex microvasculature networks

  • Swimming microorganisms acting as nanorobots versus artificial nanorobotic agents: A perspective view from an historical retrospective on the future of medical Nanorobotics in the largest known three-dimensional biomicrofluidic networks.
    Biomicrofluidics, 2016
    Co-Authors: Sylvain Martel
    Abstract:

    The vascular system in each human can be described as a 3D biomicrofluidic network providing a pathway close to approximately 100 000 km in length. Such network can be exploited to target any parts inside the human body with further accessibility through physiological spaces such as the interstitial microenvironments. This fact has triggered research initiatives towards the development of new medical tools in the form of microscopic robotic agents designed for surgical, therapeutic, imaging, or diagnostic applications. To push the technology further towards medical applications, nanotechnology including nanomedicine has been integrated with principles of robotics. This new field of research is known as medical Nanorobotics. It has been particularly creative in recent years to make what was and often still considered science-fiction to offer concrete implementations with the potential to enhance significantly many actual medical practices. In such a global effort, two main strategic trends have emerged where artificial and synthetic implementations presently compete with swimming microorganisms being harnessed to act as medical nanorobotic agents. Recognizing the potentials of each approach, efforts to combine both towards the implementation of hybrid nanorobotic agents where functionalities are implemented using both artificial/synthetic and microorganism-based entities have also been initiated. Here, through the main eras of progressive developments in this field, the evolutionary path being described from some of the main historical achievements to recent technological innovations is extrapolated in an attempt to provide a perspective view on the future of medical Nanorobotics capable of targeting any parts of the human body accessible through the vascular network.

  • Nanorobotics for Bioengineering and Medical Interventions
    Encyclopedia of Nanotechnology, 2015
    Co-Authors: Sylvain Martel
    Abstract:

    Robotics The field of Nanorobotics bridges nanotechnology with robotics. As such, to understand the fundamentals of Nanorobotics, one must first know the basic elements being associated with robotics and nanotechnology. While robotics would be defined as the science or study of the technology associated with the design, fabrication, theory, and application of robots, a robot would typically be referred to as a machine or device that operates automatically or by remote control. As such, a robot must have an appropriate structure suitable for its working environment while being able to hold all embedded components and will include a power source (embedded, wired, or wireless), actuation (e.g., for displacement, grasping, etc.), sensing (vision, pressure, temperature, etc.), and control or computation (embedded or remote). Depending on the tasks and requirements, communication may also be involved.

  • Magnetic nanoparticles in medical Nanorobotics
    Journal of Nanoparticle Research, 2015
    Co-Authors: Sylvain Martel
    Abstract:

    Medical Nanorobotics is a field of robotics that exploits the physics at the nanoscale to implement new functionalities in untethered robotic agents aimed for ultimate operations in constrained physiological environments of the human body. The implementation of such new functionalities is achieved by embedding specific nano-components in such robotic agents. Because magnetism has been and still widely used in medical Nanorobotics, magnetic nanoparticles (MNP) in particular have shown to be well suited for this purpose. To date, although such magnetic nanoparticles play a critical role in medical Nanorobotics, no literature has addressed specifically the use of MNP in medical nanorobotic agents. As such, this paper presents a short introductory tutorial and review of the use of magnetic nanoparticles in the field of medical Nanorobotics with some of the related main functionalities that can be embedded in nanorobotic agents.

  • Nanorobotic Platform for the Control of Magnetic Nanoparticles and Flagellated Bacteria for Target Interventions
    2015
    Co-Authors: Sylvain Martel, Ouajdi Felfoul, Samer Tamaz, Mahmood Mohammadi, Nasr Tabatabaei, Martin Mankewich, In Human Capillaries
    Abstract:

    Medical Nanorobotics exploits nanometer-scale components and phenomena with robotics to provide new medical diagnostic and interventional tools. Here, the architecture and main specifications of a novel medical interventional platform based on Nanorobotics and nanomedicine, and suited to target regions inaccessible to catheterization are described. The robotic platform uses magnetic resonance imaging (MRI) for feeding back information to a controller responsible for the real-time control and navigation along pre-planned paths in the blood vessels of untethered magnetic carriers, nanorobots, and/or magnetotactic bacteria (MTB) loaded with sensory or therapeutic agents acting like a wireless robotic arm, manipulator, or other extensions necessary to perform specific remote tasks. Unlike known magnetic targeting methods, the present platform allows us to reach locations deep in the human body while enhancing targeting efficacy using real-time navigational or trajectory control. The paper describes several versions of the platform upgraded through additional software and hardware modules allowing enhanced targeting efficacy and operations in very difficult locations such as tumoral lesions only accessible through complex microvasculature networks. KEY WORDS – Nanorobots, bacteria, medical robotics, MRI, target chemotherapy, blood vessels 1

T. Fukuda - One of the best experts on this subject based on the ideXlab platform.

  • The pico-Newton order force measurement with a calibrated carbon nanotube probe
    Proceedings 2003 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003), 2003
    Co-Authors: F. Arai, Lixin Dong, M. Nakajima, T. Fukuda
    Abstract:

    Force measurement with pico-Newton (pN) order resolution using a carbon nanotube (CNT) probe, which is calibrated by the electromechanical resonance, is presented. Based on the theoretical analysis, a CNT is suitable material for the sensitive force measurement. A CNT probe is constructed by attaching a CNT to the tip of the commercial available atomic force microscope (AFM) cantilever or tungsten needle probe by the electron-beam-induced deposition (EBID) though the nanorobotic manipulators inside a field-emission scanning electron microscope (FE-SEM). In order to attach a CNT quickly and correctly, CNTs are dispersed in ethanol by ultrasonic waves for several hours and oriented by electrophoresis. The elastic moduli of CNTs are calibrated from electromechanical resonance frequency by applied electrostatic forces. We measured pico-Newton order contact forces with a CNT probe, which is constructed with nanorobotic manipulators, by measuring deformation of a CNT probe from FE-SEM images.

  • Pico-Newton order force measurement using a calibrated carbon nanotube probe by electromechanical resonance
    2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003
    Co-Authors: F. Arai, M. Nakajima, L. Dong, T. Fukuda
    Abstract:

    Force measurement with pico-Newton (pN) order resolution using a carbon nanotube (CNT) probe, which is calibrated by the electromechanical resonance is presented. Based on the theoretical analysis, a CNT is suitable material for the sensitive force measurement. A CNT probe is constructed by attaching a CNT to the tip of the commercially available atomic force microscope (AFM) cantilever or tungsten needle probe by the electron-beam-induced deposition (EBID) though the nanorobotic manipulators inside a field-emission scanning electron microscope (FE-SEM). In order to attach a CNT quickly and correctly, CNTs are dispersed in ethanol by ultrasonic waves for several hours and oriented by electrophoresis. The elastic moduli of CNTs are calibrated from electromechanical resonance frequency by applied electrostatic forces. We measured pico-Newton order contact forces with a CNT probe, which is constructed with nanorobotic manipulators, by measuring deformation of a CNT probe from FE-SEM images.

  • Force measurement with pico-Newton order resolution using a carbon nanotube probe
    Proceedings of 2002 International Symposium on Micromechatronics and Human Science, 2002
    Co-Authors: F. Arai, M. Nakajima, L. Dong, T. Fukuda
    Abstract:

    Force measurement with pico-Newton (pN) order resolution is presented by using a carbon nanotube (CNT) probe. Based on the theoretical analysis, a CNT is suitable for the sensitive force measurement. A CNT probe is constructed by attaching a CNT to the tip of an atomic force microscope (AFM) cantilever, by the electron-beam-induced deposition (EBID) though the nanorobotic manipulators inside a field-emission scanning electron microscope (FE-SEM). In order to attach a CNT quickly and correctly, CNTs are dispersed in ethanol by ultrasonic waves for several hours and oriented by electrophoresis. We measured pico-Newton order contact forces with a CNT probe, which is constructed with nanorobotic manipulators, by measuring deformation of a CNT probe from FE-SEM images.

Lixin Dong - One of the best experts on this subject based on the ideXlab platform.

  • Hybrid Nanorobotic Approaches for Fabricating NEMS from 3D Helical Nanostructures
    2015
    Co-Authors: Lixin Dong, Bradley J. Nelson, Li Zhang, Dominik J. Bell, Detlev Grützmacher
    Abstract:

    Abstract- Robotic manipulation at the nanometer scale is a promising technology for structuring, characterizing and assembling nano building blocks into nanoelectromechanical systems (NEMS). Combined with recently developed nanofabrication processes, a hybrid approach to building NEMS from SiGe/Si/Cr nanocoils and Si/Cr nanospirals is presented. Nanosensors and nanoactuators are investigated from experimental, theoretical, and design perspectives. Index Terms- Nanorobotics, nanomanipulation, nanoassembly, NEMS, 3D helical nanostructure

  • Simulation of Rotary Motion Generated by Head-to-Head Carbon Nanotube Shuttles
    IEEE ASME Transactions on Mechatronics, 2013
    Co-Authors: Mustapha Hamdi, Antoine Ferreira, Lixin Dong, Arunkumar Subramanian, Bradley J.nelson
    Abstract:

    A novel rotary nanomotor is described using two ax ially aligned, opposing chirality nanotube shuttles. Based on inter shell screw-likemotion of nanotubes, rotarymotion is generated by electrostatically pulling the two cores together. Simulations using molecular dynamics showthe generation of rotation fromarmchair nanotube pairs and their actuation properties. The simulation results point toward the use of these motors as building blocks in nanoelectromechanical systems and nanorobotic systems for sensing, actuation, and computation applications.

  • Nanorobotics for creating NEMS from 3D helical nanostructures
    Journal of Physics: Conference Series, 2007
    Co-Authors: Lixin Dong, Li Zhang, Dominik J. Bell, Detlev Grützmacher, Bradley J. Nelson
    Abstract:

    Robotic manipulation at the nanometer scale is a promising technology for structuring, characterizing and assembling nano building blocks into nanoelectromechanical systems (NEMS). Combined with recently developed nanofabrication processes, a hybrid approach to building NEMS from 3D SiGe/Si/Cr and Si/Cr nanostructures is presented. Nanosensors and nanoactuators are investigated from experimental, theoretical, and design perspectives.

  • Carbon nanotubes for Nanorobotics
    Nano Today, 2007
    Co-Authors: Lixin Dong, Arunkumar Subramanian, Bradley J. Nelson
    Abstract:

    The well-defined geometry, exceptional mechanical properties, and extraordinary electrical characteristics of carbon nanotubes qualify them for structuring nanoelectronic circuits, nanoelectromechanical systems, and nanorobotic systems. Relative displacements between the atomically smooth, nested shells in multiwalled carbon nanotubes can be used as robust nanoscale motion enabling mechanisms for applications such as bearings, switches, gigahertz oscillators, shuttles, memories, syringes, and actuators. The hollow structures of carbon nanotubes can serve as containers, conduits, pipettes, and coaxial cables for storing mass and charge, or for transport. Not only can nanotubes serve as building blocks for more complex structures, tools, sensors, and actuators, but they can also be used as fundamental components for future nanorobots. We review the technological progress on carbon nanotubes related to Nanorobotics.

  • Tutorial - Robotics in the small Part II: Nanorobotics
    IEEE Robotics & Automation Magazine, 2007
    Co-Authors: Lixin Dong, Bradley J. Nelson
    Abstract:

    Nanorobotics is the study of robotics at the nanometer scale, and includes robots that are nanoscale in size, i.e., nanorobots (which have yet to be realized), and large robots capable of manipulating objects that have dimensions in the nanoscale range with nanometer resolution, i.e., nanorobotic manipulators. Knowledge from mesoscopic physics, mesoscopic/supramolecular chemistry, and molecular biology at the nanometer scale converges to form the field. Various disciplines contribute to Nanorobotics, including nanomaterial synthesis, nanobiotechnology, and microscopy for imaging and characterization. Such topics as self-assembly, nanorobotic assembly, and hybrid nanomanufacturing approaches for assembling nano building blocks into structures, tools, sensors, and actuators are considered areas of nanorobotic study. A current focus of Nanorobotics is on the fabrication of nanoelectromechanical systems (NEMS), which may serve as components for future nanorobots. The main goals of Nanorobotics are to provide effective tools for the experimental exploration of the nanoworld, and to push the boundaries of this exploration from a robotics research perspective.

Antoine Ferreira - One of the best experts on this subject based on the ideXlab platform.

  • Guest Editorial: Special Issue on Nanorobotics
    IEEE Transactions on Robotics, 2014
    Co-Authors: Antoine Ferreira, Sylvain Martel
    Abstract:

    Research activities on Nanorobotics comprise an emerging interdisciplinary technology area raising new scientific challenges and promising revolutionary advancement in applications such as medicine, biology, and industrial manufacturing. Nanorobots can be defined as intelligent systems with overall dimensions at or below the micrometer range that are made of assemblies of nanoscale components while exploiting the physics at such a scale, or as larger platforms capable of robotic operations at the nanoscale. In an effort to disseminate the current advances in this specialized field of robotics, and to stimulate discussion on the future research directions while invigorating research interests towards the development and applications of nanorobotic systems, a special issue of this issue of IEEE TRANSACTIONS ON ROBOTICS (T-RO) has been dedicated to recent developments in Nanorobotics. This Special Issue presents a total of 15 papers in the most active areas of research in Nanorobotics. Six papers are dedicated to actuation presenting recent advances in the implementation, control, and modelling of actuation methods suited for such robots operating in low Reynolds hydrodynamic conditions and, more specifically, helical propulsion with the force being induced from a rotating magnetic field, resonant magnetic actuation, and self-propelled microjets and platinum catalytic mobile nanorobots. Four papers cover the very active field of research in Nanorobotics is in biological and medical applications. The remainder look at industrial applications of micro/nanorobotic manipulation systems.

  • Simulation of Rotary Motion Generated by Head-to-Head Carbon Nanotube Shuttles
    IEEE ASME Transactions on Mechatronics, 2013
    Co-Authors: Mustapha Hamdi, Antoine Ferreira, Lixin Dong, Arunkumar Subramanian, Bradley J.nelson
    Abstract:

    A novel rotary nanomotor is described using two ax ially aligned, opposing chirality nanotube shuttles. Based on inter shell screw-likemotion of nanotubes, rotarymotion is generated by electrostatically pulling the two cores together. Simulations using molecular dynamics showthe generation of rotation fromarmchair nanotube pairs and their actuation properties. The simulation results point toward the use of these motors as building blocks in nanoelectromechanical systems and nanorobotic systems for sensing, actuation, and computation applications.

  • Nanorobotics: Past, Present, and Future
    Nanorobotics, 2013
    Co-Authors: Constantinos Mavroidis, Antoine Ferreira
    Abstract:

    This chapter focuses on the state of the art in the field of Nanorobotics by presenting a brief historical overview, the various types of nanorobotic systems, their applications, and future directions in this field. Nanorobots are basically any type of active structure capable of any one of the following (or any of their combination): actuation, sensing, manipulation, propulsion, signaling, information processing, intelligence, and swarm behavior at the nanoscale (10−9 m). The following four types of nanorobotic systems have been developed and studied so far (a) large size nanomanipulators with nanoscale manipulation capability; (b) protein- and DNA-based bionanorobotic systems; (c) magnetically guided nanorobotic systems; and (d) bacterial-based Nanorobotics. Nanorobotic systems are expected to be used in many different areas that range from medical to environmental sensing to space and military applications. From precise drug delivery to repairing cells and fighting tumor cells, nanorobots are expected to revolutionize the medical industry in the future.

  • Multiscale Design and Modeling of Protein-based Nanomechanisms for Nanorobotics
    The International Journal of Robotics Research, 2009
    Co-Authors: Mustapha Hamdi, Antoine Ferreira
    Abstract:

    In this paper, we present a novel approach that makes use of multiscale and multiphysics modeling coupled to virtual reality for nanorobotic prototyping systems. First, a CAD-assisted assembly system that integrates principles for a multiscale approach into a Nanorobotics structure design is presented. Then, we focus on the different design levels, more specifically, the optimization of geometry structure carried out by quantum mechanics, molecular dynamics and continuum mechanics methodologies. As an illustration of the proposed multiscale modeling concepts, we test the dynamic characteristics of a molecular sarcomere mechanism through steered molecular dynamics (SMD) simulations. The nano-kinematic parallel platform is composed of protein-based passive kinematic chains and actuated by myosin actuators. Multiscale simulations and experiments prove the effectiveness and accuracy of the proposed design and modeling approaches.

  • virtual reality and haptics for Nanorobotics
    IEEE Robotics & Automation Magazine, 2006
    Co-Authors: Antoine Ferreira, Constantinos Mavroidis
    Abstract:

    Virtual reality (VR) is a powerful technology for solving today's real-world problems. It provides a way for people to visualize, manipulate, and interact with simulated environments through the use of computers and extremely complex data. This paper describes some of the emerging applications of VR recently completed or currently underway in the field of nanotechnology with emphasis on existing experimental systems

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