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An omni-directional moving platform with four wheels is developed and its controller is designed for tracking desired trajectories. The four wheels of the platform are torque controlled by DC servo motors independently. The generalized coordinate of the platform is three, therefore the system has one torque redundancy and one odometry sensor redundancy(More)
In this work, we report on the surface modification of a micronozzle surface to enhance fluid dispensing in the nanoliter range. Unmodified dispensing chips usually suffer from lateral wetting of the nozzle surfaces by low surface tension liquids resulting in poor control of the volume of the dispensed fluid. Covalent attachment of a fluorinated acrylate(More)
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