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16.08.2024NanoLab1NanoLab@OFFIS
16.08.2024NanoLabPage2OutlineReview:NanoLabSetupCNTsamplesVisualFeedbackCNTlocalizationandtrackingNewdepthdetectionforfineapproachAutomatedCNT-NanohandlingNanohandlingstrategiesandautomatedsequencesAutomatedassemblyofAFMsupertipsConclusions
Review:NanoLabsetupTwomobileplatformswithmodulartoolsSeveralCCDcamerasSEMintegrationSamplestageFourdegreesoffreedomUptoeightsampleholdersAutomatedcalibrationAutomatedclosed-looppositioncontrol16.08.2024NanoLabPage3
CNTsamples16.08.2024NanoLabPage4CambridgeUniversity,EngineeringDepartmentMultiwalledCNTsGrownbyplasmaenhancedchemicalvapordeposition(PECVD)VerticallyalignedDiameter:100-200nmLength:~10μmSpacing:50μm
VisualFeedback–CNTLocalizationProblem:CNTdetectioninSEMimagesRequirementsRobustnessagainstnoiseCNTswithvaryingshape,sizeandcontaminationEndpointandorientationmeasurementSolution:PCA(PrincipleComponentAnalysis)16.08.2024NanoLabPage5
VisualFeedback–CNTTrackingProblem:ContinuouslytrackCNTsRequirements:Speed:~20fpsMag.:500xto4000xOcclusionsSolution:Region-based
activecontoursAccuracy:1.0pixel
~about30nm16.08.2024NanoLabPage6
VisualFeedback–ShadowDetectionProblem:FinezalignmentRequirements:2-3μmaccuracySolution:Shadow-based
depthdetectionSecondaryelectrons
“collected”bygripperSE-detectorbias16.08.2024NanoLabPage7
NanohandlingStrategies–DetachingSeveralapproachespossibleTensiledetachingSheardetachingTwistingSheardetachingusedSufficientgrippingforceLess“damage”toCNT16.08.2024NanoLabPage8
NanohandlingStrategies–ReleasingGripperopeningwithCNTinsideFourdifferentesHardtodetect(CNTvisibility)Solution:ApplyforcewhileopeningWelldefinedfinalstateTwopointcontacts,littleadhesion16.08.2024NanoLabPage91.2.3.1.2a.2b.2c.2d.
NanohandlingStrategies–AttachingHowtoattachaCNTtoacantilever?Previewsapproach:Beam-induceddepositionGasinjec
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