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Proceedings Paper

General description of the wireless miniature NanoWalker robot designed for atomic-scale operations
Author(s): Sylvain M. Martel; Lorenzo Cervera Olague; Juan Bautista Coves Ferrando; Stefen Riebel; Torsten Koker; Jeremy Suurkivi; Timothy Fofonoff; Mark Sherwood; Robert Dyer; Ian Warwick Hunter
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Paper Abstract

The NanoWalker is a miniature wireless instrumented robot designed for high-speed autonomous operations down to the atomic scale. As such, it requires very advanced electro-mechanical specifications and complex embedded sub-systems. The locomotion is based on three piezo-ceramic legs that are modulated at high frequencies to achieve several thousand steps per second with computer-controlled step sizes ranging from a few tenths of nanometers to a few micrometers. Each robot has an onboard 48 MIPS computer based on a digital signal processor (DSP) and 4 Mb/s half-duplex infrared communication system. A special instrument interface has been embedded in order to allow positioning capability at the atomic scale and sub-atomic operations within a 200 nanometer surface area using a scanning tunneling microscope (STM) tip. The design allows 200,000 STM-based measurements per second. In this paper, we describe the many sub-systems and the approaches used to successfully integrate them onto such a miniature robot.

Paper Details

Date Published: 8 October 2001
PDF: 10 pages
Proc. SPIE 4568, Microrobotics and Microassembly III, (8 October 2001); doi: 10.1117/12.444130
Show Author Affiliations
Sylvain M. Martel, MIT BioInstrumentation Lab. (United States)
Lorenzo Cervera Olague, Univ. Politecnica de Valencia (Spain)
Juan Bautista Coves Ferrando, Univ. Politecnica de Valencia (Spain)
Stefen Riebel, Univ. of Karlsruhe (Germany)
Torsten Koker, Univ. of Karlsruhe (Germany)
Jeremy Suurkivi, Univ. of Saskatchewan (Canada)
Timothy Fofonoff, MIT BioInstrmentation Lab. (United States)
Mark Sherwood, Univ. of Saskatchewan (United States)
Robert Dyer, MIT BioInstrumentation Lab. (United States)
Ian Warwick Hunter, MIT BioInstrumentation Lab. (United States)

Published in SPIE Proceedings Vol. 4568:
Microrobotics and Microassembly III
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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