1. Problem Statement: Broaden participation and collaboration in nanoscale science by creating low cost, remotely accessible instrumentation. Phase II: Nanomanipulator Design

2. 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

3. Mission Statement: Increase access to nanoscience by developing a low cost, remote controllable Nanomanipulator. Versatility Portable Easy to set up Easy to maintain Cost Low cost Cost to manufacture estimated Remote Control Controllable via internet Keeps equipment safe with in operation Status of machine is visible to remote users Performance Adequate resolution Adequate range of motion Minimal drift Uses standard pipette User Friendly Easy to operate Reliable movements Operates with little backlash Controllable speed of operation Known position

4. 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

5. Benchmarking Unit Project Goal Specification Eppendorf Peizoelectric Manipulator Narishige Hydrulic Manipulator Phase 1 SD equipment Resolution100 nm40 nm200 um150 NM* Range of Travel1 cm2 cm**3 cm**90 mm Backlash1 um> 20 nm50 um *300 um* Computer ControlYesSort OfNoYes Remote ControlYesNo Cost> $2500$20,394$7,3502,100 *: Experimental estimates to a 3 sigma relation **: Includes coarse and fine lumped movement

6. Eppendorf Piezoelectric Manipulator

7. Benchmarking Unit Project Goal Specification Eppendorf Peizoelectric Manipulator Narishige Hydrulic Manipulator Phase 1 SD equipment Resolution100 nm40 nm200 nm50-150 nm* Range of Travel1 cm2 cm**3 cm**90 mm Backlash1 um> 20 nm50 um *300 um* Computer ControlYesSort OfNoYes Remote ControlYesNo Cost> $2500$20,394$7,3502,100 *: Experimental estimates to a 3 sigma relation **: Includes coarse and fine lumped movement

8. Narishige Hydraulic Manipulator

9. Benchmarking Unit Project Goal Specification Eppendorf Peizoelectric Manipulator Narishige Hydrulic Manipulator Phase 1 SD equipment Resolution100 nm40 nm200 nm50-150 nm* Range of Travel1 cm2 cm**3 cm**90 mm Backlash1 um> 20 nm50 um *300 um* Computer ControlYesSort OfNoYes Remote ControlYesNo Cost> $2500$20,394$7,3502,100 *: Experimental estimates to a 3 sigma relation **: Includes coarse and fine lumped movement

10. Current Phase 1 Equipment

11. Benchmarking Unit Project Goal Specification Eppendorf Peizoelectric Manipulator Narishige Hydrulic Manipulator Phase 1 SD equipment Resolution100 nm40 nm200 nm50-150 nm* Range of Travel1 cm2 cm**3 cm**90 mm Backlash1 um> 20 nm50 um *300 um* Computer ControlYesSort OfNoYes Remote ControlYesNo Cost> $2500$20,394$7,3502,100 *: Experimental estimates to a 3 sigma relation **: Includes coarse and fine lumped movement

12. Specification List CN Source Specification (metric)Unit of MeasureTarget Value S1CN2Size (h x w x l)cm8 x 8 x 8 S2CN2Weight (of manipulator)Grams (oz)550 (20) S3CN4Development cost$< 2,500 S4CN5Cost to manufacture after development$< 1000 S5CN1,12Limits of travel in each directioncm1 S6CN16Speed of travelm/secTBD S7CN11Resolutionμm< 0.1 S8CN14System backlashμm< 1 S9CN13System driftμm/min<.02 S10CN2,3System is easily assembled/dissabembledSurveyYes S11CN6, 15,16,17control single sampling rateHz60

13. Specification List Cont. CN Source Specification (metric)Unit of MeasureTarget Value S12CN2, 13,14, 17Ease of useSurveyYes S13CN9Supported softwareBinaryYes S14CN10,17Visual feed sampling rate for microscope cameraHz60 S15CN3,7Systems full range of motion is safely operated inBinaryYes S16CN2System mounts standard pipette holderBinaryYes S17CN7,8Visual feed rate for lab livestreamfps25 S18CN6,7,8Remote control mimics local terminal controlSurveyYes S19CN6Remote control system must be overrullable locallyBinayYes

14. VoE to VoC Specs 1 - 10 VoC to VoE matrix Size (h x w x l)Size (h x w x l) Weight (of manipulator) Development cost Cost to manufacture after development Limits of travel in each direction Speed of travelSpeed of travelResolution System backlash System driftSystem drift System is easily assembled/disas sembled S1S2S3S4S5S6S7S8S9S10 Manipulator moves in 3 axisManipulator moves in 3 axisCN1 X Manipulator is portable and easy to set upManipulator is portable and easy to set upCN2 XX X Manipulator is easy to maintainManipulator is easy to maintainCN3 XX XX X Manipulator is low costManipulator is low costCN4 XX X Manipulators cost to manufacture is estimatedManipulators cost to manufacture is estimatedCN5 XX Manipulator is controllable remotely via the internetManipulator is controllable remotely via the internetCN6 Remote operation is safe to equipmentRemote operation is safe to equipmentCN7 Machine status is visible to remote usersMachine status is visible to remote usersCN8 Software used is RIT owned, custom developed or readily available freeware. CN9 Must provide visual feedback through microscope cameraMust provide visual feedback through microscope cameraCN10 Manipulator has adequate resolutionManipulator has adequate resolutionCN11 XXXXX Manipulator has adequate range of motionManipulator has adequate range of motionCN12 XXXXX Manipulator has minimal driftManipulator has minimal driftCN13 X Manipulator operate with little backlashManipulator operate with little backlashCN14 X Manipulator must be controlled via a joystickManipulator must be controlled via a joystickCN15 Manipulator has controllable speed and resolutionManipulator has controllable speed and resolutionCN16 XXXXX Manipulator is controllable via a GUIManipulator is controllable via a GUICN17

15. VoE to VoC Specs 11-19 VoC to VoE matrix control single sampling rate Ease of useEase 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 S11S12S13S14S15S16S17S18S19 Manipulator moves in 3 axisManipulator moves in 3 axisCN1 Manipulator is portable and easy to set upManipulator is portable and easy to set upCN2 XX X X Manipulator is easy to maintainManipulator is easy to maintainCN3 XX X Manipulator is low costManipulator is low costCN4 Manipulators cost to manufacture is estimatedManipulators cost to manufacture is estimatedCN5 Manipulator is controllable remotely via the internetManipulator is controllable remotely via the internetCN6 XXXXX XXX Remote operation is safe to equipmentRemote operation is safe to equipmentCN7 X X XXX Machine status is visible to remote usersMachine status is visible to remote usersCN8 X XXX Software used is RIT owned, custom developed or readily available freeware. CN9 X Must provide visual feedback through microscope cameraMust provide visual feedback through microscope cameraCN10 X X Manipulator has adequate resolutionManipulator has adequate resolutionCN11 X Manipulator has adequate range of motionManipulator has adequate range of motionCN12 X Manipulator has minimal driftManipulator has minimal driftCN13 X Manipulator operate with little backlashManipulator operate with little backlashCN14 X Manipulator must be controlled via a joystickManipulator must be controlled via a joystickCN15 X Manipulator has controllable speed and resolutionManipulator has controllable speed and resolutionCN16 X X Manipulator is controllable via a GUIManipulator is controllable via a GUICN17 XXXX

16. 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

17. 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)

18. 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