Objectif MiCRoN aims at bridging the micro and the nano worlds by developing a prototype of a multi-microrobot manipulating system to handle µm-sized and mesoscopic objects with nanometre precision. The system will be based on a cluster (5 to 10) of small (cm³) mobile robots each equipped with onboard electronics for control and communication. These robots will be able to co-operate autonomously in order to accomplish tasks ranging from the handling of biological cells to the assembly of micro-parts. Advanced novel tools as well as SPM probes will be integrated in the robot platform. Selected wireless robots will be equipped with CMOS cameras to provide live high-magnification scene images that will be fed to an integrated machine vision system for scene interpretation. Several other subsystems will also be developed, such as a global positioning system and a wireless power supply unit.OBJECTIVESThe objective of the proposed project is the development of a multi-microrobot manipulating system to handle µm-sized objects as well as smaller nano-scale objects. The system will consist of a cluster of small mobile autonomous robots. These wireless agents, each equipped with onboard electronics, co-operate within a desktop environment to execute a range of tasks related to assembly and processing from the nano- to the micro-range. The proposed system comprises several essential subsystems such as a global positioning system to provide accurate position information (resolution ~1 µm) of each microrobot, advanced manipulating tools and wireless power supply.DESCRIPTION OF WORKThe project commences with the specification of the experiments, which will serve as a test-bed for the robot system throughout the project. The first experimental scenario involves the 3D assembly of an instrumented catheter for neuroendoscopy and of an instrumented endoscopic microcapsule. In this task, mesoscopic and µm-sized parts will be assembled in 3D. The second scenario focuses on cell handling: Nano-scale precision will be required for an injection experiment in which two or more robots will co-operatively perform holding, injection and observation tasks on living cells. To accomplish these tasks, completely novel tools will need to be developed and integrated into the common robot platform (WP 2). Selected wireless robots will be equipped with CMOS cameras to provide live high-magnification scene images, which will be fed to an integrated machine vision system for scene interpretation (WP 4). To provide accurate position information of each robot, a new global positioning sensor system will also be developed within this WP. Another aspect of the project is the integration of scanning probe microscopy methods to provide access to the nano-world. Of particular importance and interest will be the employment of these techniques in the field of nano-biology together with other advanced cell and tissue handling methods (WP 3). The demands on the robots' locomotion actuators are expected to be very high in terms of precision, stiffness, minimal power consumption and high speeds. These aspects, as well as the development of appropriate actuators for the robot tools, will be addressed in WP2. As a key component of robot co-operation, the decentralised control system will be developed within WP 5. Particular attention must be paid to "micro-scale effects", such as the unfamiliar ratio of volume and surface forces in the micro-world, as well as to the specific design of the microrobots. Champ scientifique engineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringcontrol systemsengineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringsensorsoptical sensorsnatural sciencescomputer and information sciencesartificial intelligencecomputer visionengineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringroboticsautonomous robotsengineering and technologyelectrical engineering, electronic engineering, information engineeringinformation engineeringtelecommunicationsradio technology Programme(s) FP5-IST - Programme for research, technological development and demonstration on a "User-friendly information society, 1998-2002" Thème(s) 1.1.2.-6.1.1 - FET O: Open domain Appel à propositions Data not available Régime de financement CSC - Cost-sharing contracts Coordinateur UNIVERSITAET KARLSRUHE (TH) Contribution de l’UE Aucune donnée Adresse KAISERSTRASSE 12 76131 KARLSRUHE Allemagne Voir sur la carte Liens Site web Opens in new window Coût total Aucune donnée Participants (7) Trier par ordre alphabétique Trier par contribution de l’UE Tout développer Tout réduire ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE Suisse Contribution de l’UE Aucune donnée Adresse ECUBLENS 1015 LAUSANNE Voir sur la carte Coût total Aucune donnée FRAUNHOFER GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V. Allemagne Contribution de l’UE Aucune donnée Adresse HANSASTRASSE 27C 80686 MUENCHEN Voir sur la carte Coût total Aucune donnée NATIONAL TECHNICAL UNIVERSITY OF ATHENS Grèce Contribution de l’UE Aucune donnée Adresse 9, HEROON POLYTECHNIOU STR. 15773 ATHENS Voir sur la carte Coût total Aucune donnée SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA Italie Contribution de l’UE Aucune donnée Adresse PIAZZA MARTIRI DELLA LIBERTA, 33 56127 PISA Voir sur la carte Coût total Aucune donnée SHEFFIELD HALLAM UNIVERSITY Royaume-Uni Contribution de l’UE Aucune donnée Adresse HOWARD STREET S1 1WB SHEFFIELD Voir sur la carte Coût total Aucune donnée UNIVERSITAD DE BARCELONA Espagne Contribution de l’UE Aucune donnée Adresse GRAN VIA CORTS CATALANES 585 08007 BARCELONA Voir sur la carte Coût total Aucune donnée UPPSALA UNIVERSITET Suède Contribution de l’UE Aucune donnée Adresse 751 05 UPPSALA Voir sur la carte Coût total Aucune donnée