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JEOL 3010 transmission electron microscope at Sheffield University, Sorby Centre

[edit] The Nanorobotics Project

A large new nanotechnology research programme Nanorobotics - technologies for simultaneous multidimensional imaging and manipulation of nanoobjects (grant GR/S85696/01 and grant GR/S85689/01) is to be established at Sheffield University from Autumn 2004 funded by a Â£2.3Millon grant from the RCUK Basic Technology Research Programme. The programme led by the Engineering Materials Department of the University of Sheffield, will be a collaboration of project partners from Sheffield (project leader), Sheffield Hallam and Nottingham.

Many new nanotechnology research fields require a high degree of precision in both observing and manipulating materials at the atomic level. The advanced nanorobotics technology needed to manipulate materials at this scale, a million times smaller than a grain of sand, will be developed in the new Sheffield Nanorobotics group. The integration of different technologies to act as simultaneous real-time nanoscale "eyes" and "hands", including the advanced nanorobotics, high-resolution ion/electron microscopy, image processing/vision control and sophisticated sensors, will lead to the ability to manipulate matter at the scale of atoms or molecules.

The Nanorobotics programme will thus allow unique experiments to be carried out on the manipulation and observation of the smallest quantities of materials, including research into nanoscale electronic, magnetic and electromechanical devices, manipulation of fullerenes and nanoparticles, nanoscale friction and wear, biomaterials, and systems for carrying out quantum information processing.

The project's deadline is end of July 2009.

Controls of JEOL 3010 microscope

[edit] Workpackage 5: Intelligent nanorobotic Control

Visual calibration followed by two-dimensional telemanipulation (also available as MPEG4 video (45 MByte)). The deviation may be due to the drift during calibration which was not taken into account. This video was created with free TEM software running under GNU/Linux. More ...

Lucas-Kanade tracker applied to high magnification video and low magnification video. The indenter is lost where it moves to fast for the tracking algorithm. More ...

The workpackage of the MMVL is to

provide real-time position feed-back for controlling the nano-indenter
- using input from S-Video- or alternatively Firewire-camera
- estimate x- and y-position of the tip
- estimate the depth of the tip using x- or y-image wobbling (this is a common technique for manually focussing on an object already)
User-interface for telemanipulation and automated tasks
Correlate AFM- with TEM-images

Further projects beyond the workpackage

assist in hardness measurements by applying optic flow estimation on TEM videos
offline measurements of video-data from indentation experiments (e.g. see this publication)
- estimation of drift
- estimate movement of tip
- determine object-boundaries
measure fix-point and accuracy of rotary drives

[edit] Project Outputs

[edit] Publications

[edit] Conference papers

A. J. Lockwood, J. Wedekind, R. S. Gay, M. S. Bobji, B. Amavasai, M. Howarth, G. MÃ¶bus, B. J. Inkson: Advanced transmission electron microscope triboprobe with automated closed-loop nanopositioning, Measurement Science and Technology, Volume 21 Number 7
M.Boissenin, J.Wedekind, B.P.Amavasai, J.R.Travis and F.Caparrelli. Fast pose estimation for microscope images using stencils. Proceedings of the 2006 IEEE SMC UK-RI 5th Chapter Conference on Advances in Cybernetic Systems (AICS 2006), Sheffield Hallam University, UK, 7-8 Sept 2006.
D. Bhowmik, B.P. Amavasai, T.J. Mulroy, Real-Time Object Classification On FPGA Using Moment Invariants And Kohonen Neural Networks,Proc. IEEE SMC UK-RI 5th Chapt. Conf. Advances in Cybernetic Systems (AICS 2006), pp. 43-48 (2006)
M. Boissenin, B.P. Amavasai, J. Wedekind and R. Saatchi, Shape information: using state space to decimate templates. BMVA Symposium on Shape Representation, Analysis and Perception, London, 5 November 2007.
J. Wedekind, B. P. Amavasai, K. Dutton, Steerable filters generated with the hypercomplex dual-tree wavelet transform. 2007 IEEE International Conference on Signal Processing and Communications (ICSPC), pp. 1291-1294, Dubai, United Arab Emirates.(2007)
B.P. Amavasai, J. Wedekind, M. Boissenin, F. Caparrelli, A. Selvan, Machine Vision for macro, micro, and nano robot environments. BMVA Symposium on Robotics and Vision, London, 14 May 2008.
J. Wedekind, B. P. Amavasai, K. Dutton, M. Boissenin, A machine vision extension for the Ruby programming language. 2008 International Conference on Information and Automation (ICIA), pp. 991-6, Zhangjiajie, China.(2008)

[edit] Other

M. Boissenin: Template Reduction of Feature Point Models for Rigid Objects and Application to Tracking in Microscope Images, PhD, Feb 2009, Sheffield Hallam University
J. Wedekind, M. Howarth, J. Travis, K. Dutton, B. Amavasai, Real-time computer vision with Ruby and libJIT. Poster presentation, The 13th AVA Christmas Meeting, Bristol, United Kingdom (2008)
J.Wedekind, B. Amavasai, J.Travis: Nanorobotics workshop poster presentation, Nanorobotics workshop, Sheffield, United Kingdom (2007)
B.P. Amavasai: Machine vision for macro, micro and nano robot environments at the BMVA meeting on Vision and Robotics (also see list of BMVA meetings)
anonymous submission(s)

[edit] Software

TEM vision software
- software for programmed movements nano-indenter
- software for telemanipulation (controlling nanoindenter with camera feedback)
- vision software with plugins for 2D recognition and tracking
HornetsEye Ruby-extension
- integration of video-I/O libraries
- fast generic array operations

[edit] See Also

[edit] External Links

Software for testing machine vision algorithms on TEM videos

Poster for the 2008 AVA meeting in Bristol

Low magnification image of tungsten tip prior to indentation experiment

Nanorobotics workshop poster

Project Partners
- Sheffield Hallam University
  - Nanorobotics/MMVL shared private Wiki
  - MMVL only section
- University of Sheffield
  - Nanorobotics group at Sheffield University (project leader)
  - Project announcement
  - University of Sheffield Engineering Faculty FEGTEM
  - Publication Indentation mechanics of Cu-Be quantified by an in situ transmission electron microscopy mechanical probe
- University of Nottingham
  - Nanoscience group
Journals
- Journal of Micromechanics and Microengineering
- European Cells & Materials Journal
Wikibooks' Nanowiki
JEOL 3010
Links999 Nanotech Page
CAVIAR: Image-based recognition project
TEM
- Jon Rodenburg's TEM site
- Discussion about self-made STM
Nanorobotic Manipulation System at the Fukuda Lab
Micro Stereo Litography
An Introduction to Intelligent and Autonomous Control
Fabry-Perot interferometer
Overview of fiber-optical sensors
Tomography with electron microscopes
A to Z of nanotechnology
Manufacturing and handling of micro-particles at UCLA
What is nanopantography?
molecular machines research group MIT media lab
Microgripper at Toronto University
Nano-imprinting to improve LEDs
Efficiently Producing Quantum Dots
Nanohand project
Software
- Tomography with electron microscopes
- Nano-Hive Nanospace Simulator
- IMOD tomography software. (License doesn't allow redistribution of Source-code!)
- AMIRA 3D segmentation and visualisation (commercial software)
- CTSim: Computed Tomography Simulator
- Tomography at Queen Mary University of London
- Tomography demonstration at EPFL
- Gnome X Scanning Microscopy
- IMOD tomography software (proprietary license)
- SUGAR open source MEMS simulator
- EMAN Software for Single Particle Analysis and Electron Micrograph Analysis
- Nanotechnology in consumer products
- NASA Virtual Microscope

@@ Line 1: / Line 1: @@
 [[Image:JEOL3010.jpg|right|thumb|240px|JEOL 3010 transmission electron microscope at Sheffield University, [http://www.shef.ac.uk/materials/research/centres/sorby/ Sorby Centre]]]
 =The Nanorobotics Project=
-{|align=left
+{|align="left"
 |-
 |[[Image:EPSRC-small.jpg|150px]]
@@ Line 8: / Line 8: @@
 |-
 |}
-A large new nanotechnology research programme [http://gow.epsrc.ac.uk/ViewGrant.aspx?GrantRef=GR/S85689/01 Nanorobotics - technologies for simultaneous multidimensional imaging and manipulation of nanoobjects] is to be established at [http://en.wikipedia.org/wiki/Sheffield_University Sheffield University] from Autumn 2004 funded by a Â£2.3Millon grant from the RCUK Basic Technology research programme. The programme led by the Engineering Materials Department oef the University of Sheffield, will be a collaboration between the [http://en.wikipedia.org/wiki/Sheffield_University University of Sheffield], [http://en.wikipedia.org/wiki/Sheffield_Hallam_University Sheffield Hallam University] and the [http://en.wikipedia.org/wiki/University_of_Nottingham University of Nottingham].
+A large new nanotechnology research programme '''Nanorobotics - technologies for simultaneous multidimensional imaging and manipulation of nanoobjects''' ([http://gow.epsrc.ac.uk/ViewGrant.aspx?GrantRef=GR/S85696/01 grant GR/S85696/01] and [http://gow.epsrc.ac.uk/ViewGrant.aspx?GrantRef=GR/S85689/01 grant GR/S85689/01]) is to be established at [http://en.wikipedia.org/wiki/Sheffield_University Sheffield University] from Autumn 2004 funded by a Â£2.3Millon grant from the [http://www.rcuk.ac.uk/basictech/ RCUK Basic Technology Research Programme]. The programme led by the Engineering Materials Department of the University of Sheffield, will be a collaboration of project partners from '''[http://nano.group.shef.ac.uk/ Sheffield]''' (project leader), [http://vision.eng.shu.ac.uk/mmvlwiki/index.php/Nanorobotics Sheffield Hallam] and [http://www.nottingham.ac.uk/~ppzstm/ Nottingham].
 Many new nanotechnology research fields require a high degree of precision in both observing and manipulating materials at the atomic level. The advanced nanorobotics technology needed to manipulate materials at this scale, a million times smaller than a grain of sand, will be developed in the new Sheffield '''[http://nano.group.shef.ac.uk/ Nanorobotics group]'''. The integration of different technologies to act as simultaneous real-time nanoscale "eyes" and "hands", including the advanced nanorobotics, high-resolution ion/electron microscopy, image processing/vision control and sophisticated sensors, will lead to the ability to manipulate matter at the scale of atoms or molecules.
@@ Line 14: / Line 14: @@
 The Nanorobotics programme will thus allow unique experiments to be carried out on the manipulation and observation of the smallest quantities of materials, including research into nanoscale electronic, magnetic and electromechanical devices, manipulation of fullerenes and nanoparticles, nanoscale friction and wear, biomaterials, and systems for carrying out quantum information processing.
-The project's deadline is '''December 2008'''.
+The project's deadline is end of July 2009.
 [[Image:JEOLControls.jpg|thumb|640px|center|Controls of JEOL 3010 microscope]]
-==MMVL==
+==Workpackage 5: Intelligent nanorobotic Control==
+{|align=right
+|-
+|<html>
+  <div class="thumb tright"><div style="width:320px;">
+    <object type="application/x-shockwave-flash" data="http://vision.eng.shu.ac.uk/jan/flv/flvplayer.swf" width="320" height="246">
+      <param name="flashvars"
+             value="file=http://vision.eng.shu.ac.uk/jan/flv/telemanipulation.flv&amp;image=http://vision.eng.shu.ac.uk/jan/flv/telemanipulation.jpg&amp;searchbar=false&amp;displayheight=246" />
+      <param name="movie" value="http://vision.eng.shu.ac.uk/jan/flv/flvplayer.swf" />
+      <param name="allowfullscreen" value="true" />
+    </object>
+    <div class="thumbcaption">Visual calibration followed by two-dimensional telemanipulation (also available as <a href="http://vision.eng.shu.ac.uk/jan/telemanipulation.avi">MPEG4 video (45 MByte)</a>). The deviation may be due to the drift during calibration which was not taken into account. This video was created with free TEM software running under GNU/Linux. <a href="TEM_vision_software">More ...</a></div></div></div></html>
+|-
+|<html>
+  <div class="thumb tright"><div style="width:320px;">
+    <object type="application/x-shockwave-flash" data="http://vision.eng.shu.ac.uk/jan/flv/flvplayer.swf" width="320" height="320">
+      <param name="flashvars"
+             value="file=http://vision.eng.shu.ac.uk/jan/flv/indentation.xml&amp;repeat=false&amp;searchbar=false&amp;displayheight=246" />
+      <param name="movie" value="http://vision.eng.shu.ac.uk/jan/flv/flvplayer.swf" />
+      <param name="allowfullscreen" value="true" />
+    </object>
+    <div class="thumbcaption"><em>Lucas-Kanade tracker</em> applied to <a href="http://vision.eng.shu.ac.uk/jan/tipfatigure.avi">high magnification</a> video and <a href="http://vision.eng.shu.ac.uk/jan/tip10lk.avi">low magnification</a> video. The indenter is lost where it moves to fast for the tracking algorithm. <a href="Lucas-Kanade_tracker">More ...</a></div></div></div></html>
+|-
+|}
 The workpackage of the '''MMVL''' is to
-* assist in hardness measurements by applying flow estimation on TEM videos
 * provide '''real-time position feed-back for controlling the nano-indenter'''
-** using input from '''S-Video'''- or alternatively '''Firewire-camera'''
+** using input from S-Video- or alternatively Firewire-camera
 ** estimate x- and y-position of the tip
 ** estimate the depth of the tip using x- or y-image wobbling (this is a common technique for manually focussing on an object already)
@@ Line 26: / Line 48: @@
 * '''Correlate AFM- with TEM-images'''
 Further projects beyond the workpackage
-* assist in hardness measurements by applying flow estimation on TEM videos
+* assist in hardness measurements by applying optic flow estimation on TEM videos
-* estimation of optical flow
+* offline measurements of video-data from indentation experiments (''e.g.'' see [http://eprints.iisc.ernet.in/archive/00004227/ this publication])
-* automatise the measurements, which were done manually in context of [http://eprints.iisc.ernet.in/archive/00004227/ this publication]
 ** estimation of drift
 ** estimate movement of tip
 ** determine object-boundaries
+* measure fix-point and accuracy of rotary drives
+==Project Outputs==
+===Publications===
+====Conference papers====
+* A. J. Lockwood, J. Wedekind, R. S. Gay, M. S. Bobji, B. Amavasai, M. Howarth, G. MÃ¶bus, B. J. Inkson: Advanced transmission electron microscope triboprobe with automated closed-loop nanopositioning, Measurement Science and Technology, Volume 21 Number 7
+* M.Boissenin, J.Wedekind, B.P.Amavasai, J.R.Travis and F.Caparrelli. Fast pose estimation for microscope images using stencils. Proceedings of the 2006 IEEE SMC UK-RI 5th Chapter Conference on Advances in Cybernetic Systems (AICS 2006), Sheffield Hallam University, UK, 7-8 Sept 2006.
+* D. Bhowmik, B.P. Amavasai, T.J. Mulroy, Real-Time Object Classification On FPGA Using Moment Invariants And Kohonen Neural Networks,Proc. IEEE SMC UK-RI 5th Chapt. Conf. Advances in Cybernetic Systems (AICS 2006), pp. 43-48 (2006)
+* M. Boissenin, B.P. Amavasai, J. Wedekind and R. Saatchi, Shape information: using state space to decimate templates. BMVA Symposium on Shape Representation, Analysis and Perception, London, 5 November 2007.
+* J. Wedekind, B. P. Amavasai, K. Dutton, [http://shura.shu.ac.uk/953/ Steerable filters generated with the hypercomplex dual-tree wavelet transform]. 2007 IEEE International Conference on Signal Processing and Communications (ICSPC), pp. 1291-1294, Dubai, United Arab Emirates.(2007)
+* B.P. Amavasai, J. Wedekind, M. Boissenin, F. Caparrelli, A. Selvan, [[BMVA2008-Talk|Machine Vision for macro, micro, and nano robot environments]]. BMVA Symposium on Robotics and Vision, London, 14 May 2008.
+* J. Wedekind, B. P. Amavasai, K. Dutton, M. Boissenin, [http://shura.shu.ac.uk/952/ A machine vision extension for the Ruby programming language]. 2008 International Conference on Information and Automation (ICIA), pp. 991-6, Zhangjiajie, China.(2008)
+====Other====
+* M. Boissenin: [http://vision.eng.shu.ac.uk/manuel/boissenin_thesis.pdf Template Reduction of Feature Point Models for Rigid Objects and Application to Tracking in Microscope Images], PhD, Feb 2009, Sheffield Hallam University
+* J. Wedekind, M. Howarth, J. Travis, K. Dutton, B. Amavasai, [[:Image:AVA-Bristol-2008.jpg|Real-time computer vision with Ruby and libJIT. Poster presentation]], [http://hlsweb.dmu.ac.uk/ava/meetings/bristol2008.html The 13th AVA Christmas Meeting], Bristol, United Kingdom (2008)
+* J.Wedekind, B. Amavasai, J.Travis: [[:Image:Nanoworkshop.jpg|Nanorobotics workshop poster presentation]], [http://nano.group.shef.ac.uk/workshop2007.html Nanorobotics workshop], Sheffield, United Kingdom (2007)
+* B.P. Amavasai: [[BMVA2008-Talk|Machine vision for macro, micro and nano robot environments]] at the BMVA meeting on [http://www.bmva.org/meetings/08/May08/May08Programme.pdf Vision and Robotics] (also see [http://www.bmva.org/meetings/ list of BMVA meetings])
+* anonymous submission(s)
+===Software===
+* [[Image:New.gif]] [[TEM vision software]]
+** software for programmed movements nano-indenter
+** software for telemanipulation (controlling nanoindenter with camera feedback)
+** vision software with plugins for 2D recognition and tracking
+* [[Image:Hornetseye.png|32px]] [[HornetsEye]] Ruby-extension
+** integration of video-I/O libraries
+** fast generic array operations
 =See Also=
-* [[Registration of TEM images]]
+* [[Image:Hornetseye.png|40px]] [[HornetsEye]]
-* [[Locating tungsten-tip by means of cross-correlation]]
-* [[Structural Invariant Feature Transform]]
 * [[Image:Mimasanim.gif|40px]] [[Mimas]]
-* [[Image:Hornetseye.jpg|40px]] [[Hornetseye|HornetsEye]]
+* [[MiCRoN]]
+* [[MINIMAN]]
+* [[Registration of TEM images]]
+* [[Micromanipulators|Micro-manipulator]]
+* [[Hypercomplex Wavelets]]
+* [[Lucas-Kanade tracker]]
+* [[BMVA2008-Talk]]
 =External Links=
 {|align=right
 |-
-|[[Image:Init indentation.jpg|thumb|200px|Low magnification image of tungsten tip prior to indentation experiment]]||[[Image:Tilt00.jpg|thumb|200px|TEM image of tungsten tip]]
+|[[Image:Vision GUI4.png|thumb|200px|Software for testing machine vision algorithms on TEM videos]]
+|-
+|[[Image:AVA-Bristol-2008.jpg|thumb|200px|[http://vision.eng.shu.ac.uk/jan/ava-bristol-2008.pdf Poster] for the 2008 [http://hlsweb.dmu.ac.uk/ava/meetings/bristol2008.html AVA meeting] in Bristol]]
+|-
+|[[Image:Init indentation.jpg|thumb|200px|Low magnification image of tungsten tip prior to indentation experiment]]
+|-
+|[[Image:Nanoworkshop.jpg|thumb|200px|Nanorobotics workshop poster]]
 |-
 |}
 * Project Partners
 ** Sheffield Hallam University
-*** [http://vision.eng.shu.ac.uk/mediawiki2/index.php?title=Special:Userlogin&returnto=Main_Page Nanorobotics/MMVL shared private Wiki]
+*** '''[http://vision.eng.shu.ac.uk/mediawiki2/index.php?title=Special:Userlogin&returnto=Main_Page Nanorobotics/MMVL shared private Wiki]'''
 *** [http://vision.eng.shu.ac.uk/mediawiki3/index.php?title=Special:Userlogin&returnto=Main_Page MMVL only section]
 ** University of Sheffield
+*** '''[http://nano.group.shef.ac.uk/ Nanorobotics group]''' at Sheffield University (project leader)
 *** [http://www.shef.ac.uk/moebus/nanomanipulation.html Project announcement]
 *** [http://www.shef.ac.uk/eee/research/fegtem/ University of Sheffield Engineering Faculty FEGTEM]
 *** Publication ''[http://eprints.iisc.ernet.in/archive/00004227/ Indentation mechanics of Cu-Be quantified by an in situ transmission electron microscopy mechanical probe]''
-*** '''[http://nano.group.shef.ac.uk/ Nanorobotics group]''' at Sheffield University (project leader)
 ** University of Nottingham
-*** [http://www.nottingham.ac.uk/physics/ School of Physics and Astronomy]
+*** [http://www.nottingham.ac.uk/~ppzstm/ Nanoscience group]
 * Journals
 ** [http://www.iop.org/EJ/journal/JMM Journal of Micromechanics and Microengineering]
 ** [http://www.ecmjournal.org/ European Cells & Materials Journal]
 * [http://en.wikibooks.org/wiki/Nanowiki Wikibooks' Nanowiki]
-* [http://www.jeolusa.com/tem/temprods/fastem_faq.html JEOL USA FasTEM]
+* [http://www.jeolusa.com/PRODUCTS/ElectronOptics/TransmissionElectronMicroscopesTEM/300kV/JEM3010/tabid/213/Default.aspx JEOL 3010]
 * [http://www.links999.net/robotics/nanotechnology/index.html Links999 Nanotech Page]
 * [http://homepages.inf.ed.ac.uk/rbf/CAVIAR/ CAVIAR: Image-based recognition project]
@@ Line 75: / Line 134: @@
 * [http://www.azonano.com/ A to Z of nanotechnology]
 * [http://www.newsroom.ucla.edu/page.asp?RelNum=7795 Manufacturing and handling of micro-particles at UCLA]
+* [http://blogs.zdnet.com/emergingtech/?p=684 What is nanopantography?]
+* [http://www.media.mit.edu/molecular/projects.html molecular machines research group MIT media lab]
+* [http://technology.newscientist.com/article/dn13725-tiny-robotic-hand-has-the-gentlest-touch.html Microgripper at Toronto University]
+* [http://news.bbc.co.uk/1/hi/scotland/glasgow_and_west/7162606.stm Nano-imprinting to improve LEDs]
+* [http://www.edmontonjournal.com/life/relationships/Find+revolutionize+computers/1247058/story.html Efficiently Producing Quantum Dots]
+* [http://www.nanohand.eu/ Nanohand project]
 * Software
 ** [http://www.biochem.mpg.de/baumeister/TEM/aet.html Tomography with electron microscopes]
@@ Line 86: / Line 151: @@
 ** [http://bio3d.colorado.edu/imod/ IMOD tomography software (proprietary license)]
 ** [http://www-bsac.eecs.berkeley.edu/cadtools/sugar/sugar/ SUGAR] open source MEMS simulator
+** [http://ncmi.bcm.tmc.edu/homes/stevel/EMAN/ EMAN] Software for Single Particle Analysis and Electron Micrograph Analysis
+** [http://www.nanotechproject.org/consumerproducts/ Nanotechnology in consumer products]
+** [http://virtual.itg.uiuc.edu/ NASA Virtual Microscope]
+{{Addthis}}
 [[Category:Projects]]
 [[Category:Nanorobotics|*Nanorobotics]]

Nanorobotics

Latest revision as of 09:30, 15 June 2010

Contents

[edit] The Nanorobotics Project

[edit] Workpackage 5: Intelligent nanorobotic Control

[edit] Project Outputs

[edit] Publications

[edit] Conference papers

[edit] Other

[edit] Software

[edit] See Also

[edit] External Links

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