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P13375 : Computer Controlled Hydraulic Nanomanipulator

P13375 : Computer Controlled Hydraulic Nanomanipulator. David Anderson Ryan Dunn Bryon Elston Elizabeth Fischer Robert Menna Guide : Bill Nowak Customer: Dr. Michael Schrlau (ME Department). Agenda. Project Overview Main Focus of Improvements System Architecture

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P13375 : Computer Controlled Hydraulic Nanomanipulator

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  1. P13375 : Computer Controlled Hydraulic Nanomanipulator David Anderson Ryan Dunn Bryon Elston Elizabeth Fischer Robert Menna Guide : Bill Nowak Customer: Dr. Michael Schrlau (ME Department)

  2. Agenda Project Overview Main Focus of Improvements System Architecture Design Concept Obstacles Overcome Engineering Specifications Items Still in Progress Suggestions for Future Work Lessons Learned Acknowledgements Questions

  3. 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.

  4. Main Focus of Improvements Reduce Backlash Increase Speed Provide Remote Access Capabilities Stop System Leakage Issue

  5. System Architecture

  6. System Architecture: Remote Control Subsystem

  7. 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.

  8. Design Concept (Software) Manipulator Host (NBIL Inverted Microscope computer) Client (Rob’s Mac OS X)

  9. Integrated System Demo • Video • Comments: • Very minimal delay observed in software (video, control). • Observed backlash and overshoot.

  10. Design Concept (Mechanical) Replace previous manipulator cylinders with smaller lower friction option Improve mounting configuration Replace tubing and compression fittings

  11. 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

  12. Cylinder Selection Cylinder Choice: CQS12-10sm Two 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

  13. 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

  14. Design Concept (Mechanical) Cont.

  15. Full System Setup

  16. Engineering Specifications

  17. Engineering Specifications Continued

  18. Resolution Commentary

  19. Items Still in Progress • User’s Manual • Proportional Integral Control • Improve Assembly Stability • Modify individual axis mounts • Ensure Software Repeatability • Completion of Remote GUI Non-critical Functions • Final System Testing • Update Information on Edge • Proposed Completion Date: 12/18/2013

  20. 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 resolution Program Efficiency (clean up code) Touchscreen Support (ie: iPad) Improved image streaming algorithm

  21. 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 product • Importance of risk management • Need to have multiple back up plans • If not impractical, take time early on to recreate prior results – especially in specs you are seeking to improve • Machining ALWAYS takes longer than expected

  22. Acknowledgements The team would like to thank the following individuals for their help and guidance throughout this project. Guide: Bill Nowak Customer: Dr. Schrlau Charlie Tabb Nicholas Hensel Team P13371 Team P12371 Tim Patane of Component Supply

  23. Questions?

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