分布式机器人纳米操作技术研究

发布时间：2018-11-10 07:36

【摘要】：在纳米操作领域中,原子力显微镜(AFM)因其高分辨率成像能力以及样本的多样性而被认为是目前最具价值的纳米级操作工具。作为纳米操作领域重要分支之一,遥操作技术为远程纳米操作的实现提供了可能。纳米遥操作通过无线技术实现主、从端的数据传输,使得实验人员可以离开实验现场进行远距离纳米操作,同时在很大程度上可以避免生物实验中某些有毒试剂对实验人员的伤害。本文设计的分布式原子力显微镜系统涉及到实验室自制的单探针和双探针原子力显微镜,所谓分布式显微镜,是指在一个显微镜系统中有两个或者多个原子力显微镜,在以协同方式工作时,扫描过程中每个AFM分别负责扫描一个样品,从属计算机在主端操作系统的控制下操作与其相连的控制器控制原子力显微镜运动、扫描和采集数据等,结果反馈给从端计算机,然后通过无线技术发送到主计算机中显示、分析、比较,再由主计算机根据接收到的信息发出下一步指令,从属计算机再控制控制器及探针完成相应的动作;从端的两个AFM相互之间可以协调工作,也可以独立完成任务。本文从系统要实现的功能出发,设计了系统的整体框架,将系统分为主端操作系统、无线传输模块、数据采集子系统、从端机器人监测子系统四个部分,并对实验室自制的原子力显微镜系统进行了二次开发。根据系统设计要求,运用VC++开发了主端操作系统、数据采集子系统和从端机器人检测子系统;同时,选用nRF24L01无线射频传输芯片和STM32F103ZET6微控制器组成无线传输模块,设计了相应的外围电路并在Keil5开发环境完成了对无线传输模块的程序开发;根据从端机器人的工作特点,设计了一种协同工作方式。本文所研究的分布式机器人纳米操作系统成功地将两个独立工作的原子力显微镜集成在一个操作系统内,使得实验人员不必再在实验现场长时间等待,也避免了生物实验中某些有毒试剂对实验人员的伤害,可以显著提高实验效率。
[Abstract]:Atomic force microscope (AFM) (AFM) is considered to be the most valuable nanoscale tool for its high resolution imaging ability and diversity of samples in the field of nanoscale manipulation. As one of the important branches in the field of nano-operation, teleoperation provides the possibility for the realization of long-range nano-operation. The data transmission between master and slave can be realized by wireless technology, so that the experimenter can leave the experiment site to perform long-distance nanometer operation. At the same time, to a large extent, it can avoid the harm of some toxic reagents in biological experiments. The distributed atomic force microscope system designed in this paper involves a single probe and a double probe atomic force microscope made by the laboratory. The distributed microscope refers to the existence of two or more atomic force microscopes in a single microscope system. During the scanning process, each AFM is responsible for scanning a sample, and the slave computer operates under the control of the main operating system to control the motion of atomic force microscope, scan and collect data, etc. The results are fed back to the slave computer, and then sent to the host computer by wireless technology to display, analyze, compare, and then the host computer issues the next instruction according to the information received. The slave computer recontroller and the probe complete the corresponding action; From the end of the two AFM can work with each other, but also can complete the task independently. Based on the function of the system, the whole frame of the system is designed in this paper. The system is divided into four parts: main operating system, wireless transmission module, data acquisition subsystem, robot monitoring subsystem at the end of the system. The atomic force microscope system made in the laboratory has been redeveloped. According to the system design requirements, the main operating system, data acquisition subsystem and slave robot detection subsystem are developed by using VC. At the same time, the wireless transmission module is composed of nRF24L01 radio frequency transmission chip and STM32F103ZET6 microcontroller. The corresponding peripheral circuit is designed and the program development of wireless transmission module is completed in the Keil5 development environment. According to the working characteristics of slave robot, a cooperative working mode is designed. In this paper, the distributed robot nanoscale operating system successfully integrates two independent atomic force microscopes into one operating system, so that the experimenters do not have to wait for a long time in the experimental field. It can also avoid the harm of some toxic reagents in biological experiments and improve the efficiency of experiments.
【学位授予单位】：长春理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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