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Paper TuC04.5

Schuerle, Simone (ETH Zurich), Peyer, Kathrin Eva (ETH Zurich), Kratochvil, Bradley (ETH Zurich), Nelson, Bradley J. (ETH Zurich)

Holonomic 5-DOF Magnetic Control of 1D Nanostructures

Scheduled for presentation during the Regular Session "Micro - Nanoscale Automation" (TuC04), Tuesday, May 15, 2012, 15:30−15:45, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Micro/Nano Robots, Medical Robots and Systems, Automation in Life Sciences: Biotechnology, Pharmaceutical and Health Care

Abstract

This paper presents a manipulation system capable of five degree of freedom (5-DOF) control of a magnetic nanoagent (3-DOF position, 2-DOF orientation) implemented on an inverted microscope. Magnetic fields up to 50 mT and gradients up to 5 T/m at frequencies up to 6 kHz can be achieved. The independent generation of field and gradient vectors enables holonomic 5-DOF wireless magnetic manipulation at the nanoscale. Multiple types of motion were investigated for nickel nanowires of different lengths and analyzed using resistive force theory.

 

 

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