1. University of Alberta Nanorobotics Team
IEEE RAS Mobile Micro/Nanorobotics Competition 2013
Co-presidents: Abhishek Nage and Yang Gao
Team members: Remko van den Hurk, Walid Bin Khaled, Adam Gulyas, Woody Wang, Yan Duan, Stephanie Bohaichuk, Marium Japanwala
Acknowledgements
The University of Alberta Nanorobotics Team thanks nanoAlberta, University of Alberta Students Union and Graduate Students Association for
funding our research and travel.
We acknowledge the generous support of UofA nanoFAB for providing micro/nanofabrication facilities and FerroTec for providing ferrofluids.
We also thank the following faculty members for their assistance: Dr. Michael Brett, Audrey Lin, Dr. Eric Flaim, Dr. Bart Hazes, Dr. Dan Sameoto, Dr.
Jillian Buriak
nanoAlberta
Robot Droplet Arenas Controls
Robot Design
Iron Oxide Nanoparticles
Surfactant Layer
Water
The robot is an aqueous droplet of a
superparamagnetic ferrofluid and it consist
of iron oxide nanoparticles. The
nanoparticles align to the magnetic field
and are pulled towards it. The droplet is
made with a nanoinjector. To achieve a
droplet 400-500 µm in diameter, 75-100 nL
of ferrofluid is injected into silicone oil. The
silicone oil prevents evaporation and
reduces stiction, which facilitates robot
movement.
Nanoinjector in
Dr. Hazes’ lab
The robot is a superparamagnetic ferrofluid consisting of iron oxide nanoparticles, and it
moves in the presence of a magnetic field. The droplet size is determined by injection volume,
our 500 µm droplet equates to 100 nL of ferrofluid. This droplet can be manipulated to move
in directions along the x and y axis under a magnetic field . The magnetic field is formed by
passing currents through four electromagnets. Arenas are microfabricated with silicon wafers,
gold and photoresists.
Microscope Image of Ferrofluid Robot in
Arena 1
Side Cross-Section Dagram of Robot Design SEM Micrograph of Arena 2
Silicone Oil
Arena
Robot: Ferrofluid Droplet
Electromagnet
Turned On
Robot pulled towards
electromagnet
Controls System Diagram
MatLab is used to process images, detect
the droplet, and output voltages.
Computer outputs signals based on visual
feedback, contrast is optimized for circle
detection. Hugh transform is a
mathematical method used to determine
the probability of a curve being a circle
Triangles: SU-8 photoresist
The arenas and triangle blocks were
microfabricated at UofA nanoFAB
Arenas:
Si Wafer
Positive
Photoresist
Si Wafer
Sacrificial
Photorests
SU-8
Spin on SU-8 and
expose the triangles
Strip unexposed
photoresist  triangles
anchored on Si wafer
Deposit positive
photoresist and expose
arena pattern
Etch photoresist and Si
wafer
 patterned arena
The magnetic field is controlled by
electromagnets. One or two will turn on at
a time to pull the droplet.