Towards automated robot-based nanohandling

Authors:
S. Fatikow;T. Wortmann;M. Mikczinski;C. Dahmen;C. Stolle
Affiliations:
Division Microrobotics and Control Engineering, University of Oldenburg, Germany;Division Microrobotics and Control Engineering, University of Oldenburg, Germany;Division Microrobotics and Control Engineering, University of Oldenburg, Germany;Division Microrobotics and Control Engineering, University of Oldenburg, Germany;Division Microrobotics and Control Engineering, University of Oldenburg, Germany
Venue:
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Year:
2009

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Abstract

One of the key challenges of microsystem- and nanotechnologies is the automation of robot-based nanomanipulation. However, there is limited sensor feedback due to lack of appropriate sensors. Sensor feedback is required for repeatable actuator movements from macro- down to the nanoscale. This complicates the design of reliable automation processes. In this paper, the development of an automated robot-based toolbox for cell injection and handling is presented. This toolbox includes several sensor methods, bridging several orders of magnitude as feedback for automation. A non-linear support vector machine (SVM) is applied for classification of the viability of cells as feedback for quality control. A visual servoing algorithm for position tracking of the injection needle as well as an injection force sensor have been developed. First automation results and the control system are explained.