The traditional Canny edge detection algorithm is sensitive to noise, therefore, it's easy lose weak information when filtering out the and its fixed parameters show poor adaptability. In response these problems, this paper proposed an improved based on algorithm. This introduced concept of gravitational field intensity replace image gradient, obtained operator. Two adaptive threshold selection methods mean gradient magnitude standard deviation were put forward for two kinds typical images...

A novel stick-slip type piezoelectric rotary actuator is proposed in this paper. The equips with a parallelogram driving mechanism to generate pair of variable force couple drive the rotor. Two piezo-stacks are used deform realize large range motions high resolution both forward and backward directions. By utilizing pseudo-rigid-body method, geometric model established analyze motion actuator. Finite element analysis conducted simulate deformation mechanism. prototype fabricated series...

Faced with complex and diverse tasks, researchers seek to introduce stimuli-responsive materials into the field of microrobots. Magnetic helical microrobots based on shape-memory polymers demonstrate excellent locomotion capability programmable shape transformations. However, stimulation method changes is still dependent rising ambient temperature lacks ability address individuals among multiple In this paper, magnetic were prepared polylactic acid Fe3O4 nanoparticles, which demonstrated...

A major deficiency of piezoelectric actuators is that their open-loop control accuracy seriously limited by hysteresis. In this paper, a novel mathematical model proposed to describe hysteresis precisely and new parameter called turning voltage introduced. It was found experimentally the shapes curves are decided value voltage. computer-based inverse approach under operation based on applied suppress inherent within ±1% full span range stack actuator performance noticeably improved.

Stick-slip accurate manipulator (composed of piezo and slider) is widely applied in scanning electron microscope (SEM). However, for its positioning control SEM, conventional displacement sensors are hard to be used because their big physical dimensions or magnetic working principles. To solve these problems, this paper proposes use strain gauge as the manipulator's sensor develops a displacement-prediction method achieve long-travel (positioning error no more than 2% traveling range) SEM....

Microscopy imaging can not achieve both high resolution and wide image space simultaneously. Autofocusing 3-D surface reconstruction techniques are of fundamental importance to automated micromanipulation in providing lever task understanding, planning real time control. In this paper, a new wavelet-based focus measure is developed, which provides significantly better depth accuracy, robustness than previous ones. A complex valued microscopic fusion method scheme were proposed. Purpose...

An integrated micro XY-stage with a 2 × mm2 movable table is designed and fabricated for application in nanometer-scale operation nanometric positioning precision. The device integrates the functions of both actuating sensing monolithic chip mainly composed silicon-based XY-stage, comb-drive actuator displacement sensor, which are developed by using double-sided bulk-micromachining technology. high-aspect-ratio comb-driven achieved deep reactive ion etching (DRIE) on sides wafer. sensor...

Pick-and-place of micro-objects is a basic task in various micromanipulation demands. Reliable releasing usually disturbed due to strong scale effects. This paper focuses on vacuum micro-gripper with vibration functionality, which was designed and assembled for reliable tasks. Accordingly, strategy implementing piezoelectric actuator the microgripping tool presented address problem. The mechanism illustrated using dynamic micro contact model. model developed via theoretical analysis,...

A stepping type piezoelectric linear actuator based on compliant foot driving is proposed in this paper. With the help of four piezo-stacks and feet, designed can produce large range motions both positive negative directions with high accuracy. The mechanical structure operating principle are discussed. Mohr integration method used to analyze deformation key component foot. To investigate working performance, a prototype fabricated series experiments carried out. experimental results...

A novel method is presented for in situ quantification of living cell adhesion forces using a homemade nanorobotic system provided with two independently actuated probes that form dual-probe nanotweezer capable pick-and-place manipulation single an aqueous environment. Compared single-cell force spectroscopy (SCFS) based on traditional atomic microscopy (AFM), immobilization via chemical trapping unnecessary and the test can be efficiently released to significantly enhance production SCFS....

A capillary-gripping method that enables micro-objects to be picked up flexibly and reliably is described. By controlling the dropwise condensation on a probe tip, volume of water droplet hydrophobic tip surface can dynamically varied, which helps establish appropriate capillary lifting forces during micromanipulation tasks. Droplet formation generated manipulation process were experimentally characterized. Micromanipulation experiments using customized motion platform equipped with viewing...

In this paper, we present an extrusion printing technique for producing spherical and cylindrical plano-convex microlens arrays with controllable feature dimensions. This employs a robotic adhesive dispenser robotically controlled microextrusion of ultraviolet (UV) curable polymer onto glass substrate surface to directly deposit the arrays. It provides simple flexible alternative fabricate both

The compact precise tilt positioning mechanism (PTPM) determines the performance of inter-satellite optical communication systems. This paper presents a novel structural design PTPM in which movement is implemented by elastic deformation flexure ring. ring promises zero friction and clearance. stiffness model flexible was built based on an analysis mechanics. Then dynamic presented Lagrange equation. A modal experimental investigation were performed. error between three methods less than 10%.

Microrobots working at liquid surfaces have immense potential for micromanipulation in tight and enclosed spaces, whereas constructing agile functional microrobots with simple structures is a great challenge. Herein, pair of magnetic circular microdisks as partners ethylene glycol (EG) are proposed order to accomplish flexible locomotion situ tasks. The can be controlled connect separate by modulating the orientation applied field. After two disks an entity, they transformed into...

Due to scale effects, the releasing of micro objects has been a long-standing challenge in micromanipulation applications. In this paper system is presented based on adhesion control with compound vibration. This technique employs inertia force overcome achieving 100% repeatability accuracy 4±0.5μm, which was experimentally quantified through manipulation 20-100μm polystyrene spheres under an optical microscope. The consists microgripper and piezoelectric ceramics module. vibration comes...