1. P13371

2.  Customer Dr. Schrlau  Team Jacob Bertani Bridget Lally Avash Joshi Nick Matson Keith Slusser  Guide Bill Nowak

4.  Jacob Bertani – Lead Hydraulic Subsystem Engineer  Avash Joshi – Lead Driver / Hydraulic Interface Subsystem Engineer  Keith Slusser – Lead Manipulator Subsystem Engineer  Bridget Lally – Lead Controls Engineer  Nick Matson – Project Manager & Controls Engineer

5. Ultra-high precision positioning instrument Maneuver objects under high magnification, at the micro and nano scales Primary customer uses: Cell behavior for medical diagnostics

6.  Improve 12371 prototype and redesign where applicable  Improve overall nanomanipulator function to meet competitive operational specifications  Reduce price of nanomanipulator with respect to commercial devices  Broaden participation in nanoscience

12.  Spec: 8x8x8 (cm)  Theory: 10x10x10 (cm)  Actual: 13x13x13 (cm)  Fail ◦ 1% of relative customer needs  CAD model smaller than actual cylinder  Did not account for fittings

13.  Spec: 550 (grams)  Theory: 570 (grams)  Actual: 689 (grams)  Fail ◦ 1% of relative customer needs  Inaccurate CAD model  Weight of water  8% improvement from phase 1 (750 grams)

14.  Spec: <$2,500  Theory: $900  Actual: $2,128  Pass ◦ 8% of relative customer needs

15.  Spec: $1,500  Theory: $1,400  Actual: $1,471  Pass ◦ 11% of relative customer needs  $179 cost reduction from phase 1  Assuming $270 for labor costs

16.  Spec: 1 (cm)  Theoretical: 1.1 (cm)  Actual:1.1 (cm)  Pass ◦ 5% of relative customer needs  X: 1.2 cm  Y: 1.1 cm  Z: 1.1 cm

17.  Spec: 0.5 mm/sec  Theory: 0.104 mm/sec  Actual: 0.04 mm/sec  Fail ◦ 6% of relative customer needs  Stepper motor gear ratio  Stepper motor max rpm

18.  Spec: 100 nm/step  Theory: 66 nm/step  Actual: X: 56 nm/step Y: 51 nm/step Z: 56 nm/step  Pass ◦ 12% of relative customer needs

19.  Spec: <1 rev  Theory: 0 rev  Actual: X: 1.1 Y: 2.9 Z: 2.8  Fail ◦ 9% of relative customer needs  80% improvement phase 1 (14 rev)

20.  Spec: <0.02 um  Theory: 0 um  Actual: 0 um  Pass ◦ Part of position repeatability ◦ 4% of relative customer needs  Manipulator does not change position when left for hours in lab

21.  Spec: undefined  Theory: undefined  Actual: X: 2.0um Y: 3.8um Z: 6.2um  Pass/ Fail ? ◦ Part of position repeatability ◦ 8% of relative customer needs

22.  System is easily assembled / disassembled ◦ Yes ◦ Pass  3% of relative customer needs ◦ See operators manual for instructions  System is easy to use ◦ Yes ◦ Pass  7% of relative customer needs ◦ See users experience survey

23.  System is controlled by GUI ◦ Yes ◦ Pass  7% of relative customer needs  System is controlled by Joystick ◦ Yes ◦ Pass  11% of relative customer needs  System mounts standard pipette holder ◦ Yes ◦ Pass  3% of relative customer needs

24.  System can be operated safely through range of motion ◦ Yes ◦ Pass  3% of relative customer needs  System can be controlled remotely ◦ Remote desktop only ◦ Fail  0% of relative customer needs

25.  83% of customer needs passed  Major Failures: ◦ Backlash (9%) ◦ Speed of travel (6%)  Significant improvements on backlash, position repeatability and cost for manufacturing  Maximum travel speed is still functional and practical when working in field of vision under microscope

28.  Controls ◦ Stepper motor control board ◦ Implementation of limit switches ◦ Limited computer engineering experience ◦ Outdated serial communication

29.  Pump Assembly ◦ Reevaluate stepper motor gear ratio to get best resolution vs. speed ◦ Improper manufacturing on reused parts  Manipulator Assembly ◦ Implement bearing sliders ◦ Cylinders ◦ Implement hard mount for correct orientation

30.  Hydraulics Assembly ◦ Cylinders ◦ Protection of hydraulic lines ◦ Hose length  Manufacturing ◦ Uniform parts for all axes ◦ Multiple bolted fasteners can cause alignment issues

31.  Purchasing ◦ Use reliable suppliers ◦ Ample amount of spares when testing  Refer to subject mater experts  Scheduling  Communication and organization

32.  Dr. Schrlau – Customer  Bill Nowak - Guide  Mr. Wellin -RIT ME Department  Dr. Patru - RIT EE Department  Sabine Loebner & Brad Olan - P12371  Ken Snyder – RIT EE Department  Rick Tolleson– RIT CE Department  Rob Kranynik & Jan Maneti - ME Machine Shop