NanoManipulator DP-100/200 Functional Overview
Contents
1. the lower left comer the Height Plane name see below and scale are displayed On the next line the grid resolution and the size of the current scan area ate displayed And on the line at the bottom if you are scanning or looking at a stream file the point on the surface under the 3D cursor is displayed If you are touching the surface it will display the most recent point data sent by the SPM 8 In the lower right corner the set points used for image and modify modes are displayed 9 The 3D cursor icon represents the position of the Phantom in the virtual environment NanoManipulator DP 100 200 5 10 26 06 3 2 Visual Settings 3 2 1 Height Plane The height plane is the surface displayed in the Surface View Window Position of the viewpoint and zoom are controlled with the Phantom The z scale controls the ratio of the image s height to its length and width Because it can exaggerate height adjusting the z scale can make certain features mote obvious 3 2 2 Color Map The color map is a linear scale of colors that represent data values at each point on a surface It can be used to reinforce the height plane data or to display a different data layer from the height plane Color maps vary in how well they represent different kinds of data A color map that varies in intensity such as one that ranges from black to white will display data with high frequency variation well A color map that ranges in hue or saturation such a2. at a later time without use of the SPM and can be played back Playback enables sharing experiments with colleagues and students re analyzing data and further exploration Stream files can be played back in real time sped up or slowed down You can also Sump to a particular point in time or rewind and begin again During playback you not only can view the entire record you can use the haptic interface to f l the surface at any point in time Naturally new modifications are not possible during stream file playback 2 3 Static Scan Data Display The NanoManipulator can display static scanned data from a variety of formats These include TM Microscopes format standard PNM image file or text format 2 4 Saving Data The NanoManipulator enables saving a variety of data other than stream files Screen Data Saving the screen image allows you to store the image displayed in the Surface View window Images may be saved in either tiff or pnm formats You can record the image with or without the text annotations displayed NanoManipulator DP 100 200 3 10 26 06 Plane Data plane is a single layer of scan data Saving plane data allows you to export scan data for analysis or display in another program The supported save formats include Veeco s format standard PNM image file or text format Modification Data Modification data is the information generated from a particular modification action that has been record
3. lt iSrdlech NanoManipulator DP 100 200 Functional Overview v1 2b 10 26 2006 Table of Contents Section 1 Features of the NanoManipulator 1 1 3D Graphics 1 2 Visualization 1 3 Modification 1 4 Analysis 1 5 Store Replay Section 2 NanoManipulator Modes of Operation 2 1 SPM Connections 2 2 Automatic Lab Notebook 2 3 Static Scan Data Display 2 4 Saving Data Section 3 NanoManipulator Visualization 3 1 Surface View 3 1 1 Screen Elements 3 2 Visual Settings 3 2 1 Height Plane 3 2 2 Color Map 3 2 3 Isovalue Contour Lines NanoManipulator DP 100 200 YD DY NY OO Wo wo wo A A A Wo O O 3 2 4 Lighting and Shading Section 4 Controlling the Scanning Probe Microscope 4 1 The Phantom Desktop 4 2 Controlling the SPM For Scanning 4 2 1 Modes Oscillating or Contact 4 3 Controlling the SPM For Modifications 4 3 1 Modes Oscillating or Contact 4 3 2 Modification Styles 4 3 3 Modification Tools Section 5 Analysis 5 1 Calculated Data Planes 5 1 1 Flattened Plane 5 1 2 Sum Plane 5 2 Ruler Grid 5 3 Measure Lines 5 4 Strip chart Section 6 Documentation 10 26 06 o O O oO 600 oO N DD Section 1 Features of the NanolVlanipulator The NanoManipulator System is a growing set of integrated tools for users of Scanning Probe Microscopes SPMs These tools include an enhanced user interface extensive 3D graphics a force feedback user interface along w
4. collect data The modification is performed automatically When using the sharp style the uniform tip motion allows sensitive measurements of the lateral force When using the sweep style the tip will move side to side as it moves along the line or line segment s At a turn it will sweep out an arc to turn the corner The sweep is always perpendicular to the direction of motion Constrained Freehand The user specifies two endpoints of a line and then any subsequent motions are constrained to that line The user can feel the sample and modify while the tip motion is constrained Slow Line The user specifies the two endpoints of a line or multiple line segments and the tip starts at one endpoint The motion of the tip is then controlled with commands of Play Pause and Step and Reverse for a tightly controlled modification XY Lock The user can constrain the probe to a single point and repeatedly sample Section 5 Analysis The NanoManipulator provides tools to explore and compare data quantitatively These include Calculated data planes a Ruler grid Measure lines and Strip Chart 5 1 Calculated Data Planes 5 1 1 Flattened Plane Flattening the height plane eliminates the slope in the surface For example if the original sample was placed at an angle higher at one end than at another then flattening the height plane levels the surface 5 1 2 Sum Plane A Sum Plane is a calculated data plane based on the data in tw
5. far You can choose to graph data versus time versus arc length in nanometers or versus the X or Y coordinate where the data was collected Section 6 Documentation The NanoManipulator DP 100 and DP 200 include an online user manual with complete documentation of all functions and interfaces In addition there are tutorials for all standard operations including modifications NanoManipulator DP 100 200 9 10 26 06
6. 998 98 45 Displaying Topegrephy Forwerd ne scale 3 Image setpoint 68 700 700 gt 6339 56 by 8339 56 8 Modify setpoint amp Height unc rend is 15545 1 Surface 3D Display of the height information from the plane specified by the Height Plane control 2 Orientation arrow This red arrow shows which edge of the surface is up Y This edge is where the scan starts and it always appears at the top of the image if the plane data is saved 3 Measurement Lines These red yellow and blue lines start in the corners of the surface and provide a way to make quick measurements of surface features 4 The upper left corner of the screen is the time indicator If you are connected to a live SPM it says Live 23 where the number indicates the number of seconds you have been connected to the SPM If you have opened a stream file it says Play 23 Play 5x 23 or Pause 23 The multiplier indicates how much faster than real time you are replaying the stream file and the number indicates the number of seconds that have elapsed in the recorded experiment Pause indicates that time is not advancing If you have opened a TM Microscopes data file or other static data file it says Static File 5 In the top center of the screen is an indicator of the mode of the Phantom Desktop device 6 The measure line display shows the distances and angles between the three measure lines 7
7. ed by the NanoManipulator Saving the modification data allows you to store the information in a format that KaleidaGraph or Excel or another data processing program can read The data collected during the modification usually includes the Topography Internal Sensor Lateral Force and Z Piezo as well as the time of the modification the length of the path and the position of the probe Section 3 NanoManipulator Visualization The NanoManipulator was designed to provide multiple visualizations of data during both real time interface with an SPM and during playback of stored data 3D data display can be customized using 3D interactions such as rotation and scaling as well as using color maps textures contour lines and grid lines Visualizations can also include multiple variables such as topography combined with a force measurement or some other measured parameter 3 1 Surface View The view of the surface is a perspective view appropriate for simulating the look of the real world Objects closer to us are larger than objects far away This also means that lines that are parallel in 3 dimensions are sometimes not drawn parallel on your 2D screen 3 1 1 Screen Elements Various elements of this typical screen view are labeled by numbers in this picture and discussed below NanoManipulator DP 100 200 4 10 26 06 Vow Pause 1385 sec Mode Oxy 8339 8 Oxy 11794 4 Dz 126 3 142 3 Dz 15
8. ernal programs such as slide presentations Section 2 NanolVianipulator Modes of Operation The NanoManipulator System functions in three basic modes of operation One is the real time interface with a scanning probe microscope The other two provide for the display of and interaction with stored data Though the real time connection is key practice has shown that the ability to replay and re analyze complete investigations is an invaluable addition to the scientist s toolkit 2 1 SPM Connections The NanoManipulator interfaces to Nanotec Electronica s SPM Asylum Research s MFP 3D AFM and Veeco s Explorer SPM and While connected the NanoManipulator provides real time visualization interaction and analysis of data provided by the SPM It also enables a variety of modifications described later The NanoManipulator is configured for a single SPM during installation With an optional upgrade it can be configured to use multiple SPMs one at a time 2 2 Automatic Lab Notebook During real time connection with an SPM the NanoManipulator can store a complete record of data collected during scans modifications and when force curves are taken You can specify precisely which data is recorded from among parameters including Topography Internal Sensor Lateral Force and Z Piezo as well as the time and location of the probe The extensive data collected is stored in a Stream file Stream files can be read by the NanoManipulator
9. ion to determine the number of samples collected during scanning You can also use the Phantom interface to specify a new scan region with respect to the current scan region a sub region or overlapping region 4 3 Controlling the SPM For Modifications The parameters for modifications control how hard the SPM tip presses on the sample during a modification how the tip moves and whether it moves automatically or under the user s direct control 4 3 1 Modes Oscillating or Contact Oscillating and Contact modes are the same as those provided by the AFM software There are additional parameters to automatically switch to a different mode and to higher force settings when you do a modification Also the NanoManipulator collects all data during both modify activities The NanoManipulator will automatically switch from oscillating mode imaging to contact mode modifications without withdrawing the tip This typically is used because contact mode can provide a higher force for modification than oscillating mode and contact mode allows measurement of lateral force 4 3 2 Modification Styles The style controls how the tip moves during one step of a modification There are several styles Sharp The SPM tip stays on the surface using the feedback parameters to maintain a constant force Sweep The SPM tip stays on the surface maintaining a constant force For each step forward it makes a side to side motion with the width specified This ma
10. ith integrated sample manipulation capabilities comprehensive record replay reanalyze functions for entire SPM sessions and a portable 3D viewer for replay on additional systems These capabilities are described briefly below 1 1 3D Graphics Easily move rotate and scale a real time 3D view of the height field measured by the SPM Interactively change lighting to highlight small surface features Scale the Z dimension independently to exaggerate the display of height changes Maintain interactivity at 200 x 200 display resolution or higher scan is stored at full resolution and resampled in real time for display 1 2 Visualization Display several data layers simultaneously using a variety of visualization techniques Display highly detailed data with built in or user defined color maps Display data with contour lines to visualize multiple layers of information All display methods are updated in real time as new data arrives from the SPM 1 3 Modification Precisely control the SPM tip for setting up and executing modifications to the sample modifications that would be nearly impossible without the real time accurate surface information the NanoManipulator provides Using the Phantom Desktop a 6 degree of freedom positioning and force feedback device feel the shape of the sample as you control the motion of the tip to know exactly what features the tip is encountering Precisely mark locations for the computer to make auto
11. kes the tip act more like a spatula or a broom pushing an object on the surface all along the width of the sweep nudging it forward It can also be used to clear an area of the surface If you are using the freehand tool the direction of the sweep is determined by the twist of the Phantom pen and is indicated by lines flanking the hand icon If you are using the 0 tool the sweep is constrained to be perpendicular to each line segment Sewing The SPM tip punches down to the surface then retracts and moves forward punching down again This mode avoids putting any lateral forces on the tip or the sample enabling a sharp cut in a sample without snow plow effects The force applied each time the tip punches down is controlled by the set point parameter of the Mode used Force Curve At each point the tip will take a Force Spectroscopy Curve and return the results NanoManipulator DP 100 200 7 10 26 06 4 3 3 Modification Tools The NanoManipulator provides several additional tools for performing modifications Freehand tool The tip follows the motion of your hand during a modification The shape of the surface during the modification is displayed haptically that is by touch providing accurate feedback to dynamic changes Haptic feedback allows the user to compensate for drift Line tool The user specifies the endpoints of a line or multiple line segments that the tip is to follow and a step size for how often the SPM is to
12. matic modifications or control the tip in real time and feel the sample changing as you modify it Transition between oscillating and contact modes without withdrawing the tip Image your sample with the feather touch of oscillating mode then modify it with a higher set point and more force in contact mode Collect several types of data during a modification so you can examine the changes in topography internal sensor and lateral force as the modification is performed 1 4 Analysis Several features assist in quantitative analysis of data received from the SPM Export data in several formats so it can be analyzed or graphed using packages with which you are already familiar Superimpose a grid on the surface for quick size comparisons Use the three measuring lines to compare lengths and angular measurements Show the data collected during a modification in real time oscilloscope trace strip chart so you can track the progress of a modification visually and examine it in more detail after completion Flatten the data to remove bias due to sample tilt NanoManipulator DP 100 200 2 10 26 06 1 5 7 Record all data collected during an experiment in an automatic lab notebook and use it to replay the entire procedure This replay capability has proven extremely valuable in a research setting as new theories can be postulated and can enable re interpretation of the data Extract data at any point during replay for export to ext
13. o other planes This can be useful when comparing two planes of data or when analyzing error signals Each data point in the sum plane is calculated as Sum plane point first plane point scale factor second plane point These calculated data planes are dynamic they are linked to source planes As the source plane s change with new data from an SPM or from a stream file the calculated plane is updated dynamically 5 2 Ruler Grid The Ruler grid is a grid of lines of a specified size and orientation on the surface The grid enables rapid estimation of the size of features on the surface which helps in planning manipulations or in understanding the general size of objects on your sample NanoManipulator DP 100 200 8 10 26 06 53 Measure Lines The measure lines can be used to measure height and distance 5 4 Strip chart The Strip chart graphs data collected during a modification It can display the data collected as a function of time or as a function of a spatial dimension and allows you to easily change the range of the data collected It is designed to provide instant feedback during and after a modification 74 Stripchart Tool SS 7 lt Stripchart Tol Tool 218 gm_Topography_nm 5 gm_Lateral_Force_nA 35 214 oO 5 18 sec Axis config By default the Strip chart shows both Topography and Lateral Force as a function of the arc length of the modification so
14. provides a unique and powerful control mechanism for the SPM both during surface scanning and during sample modification 4 1 The Phantom Desktop The Phantom Desktop is a six degtee of freedom positioning and force feedback device It provides a simple intuitive user interface for both viewing and manipulation where hand movements with the Phantom stylus correspond to movements in the NanoManipulator s display or of the actual SPM probe NanoManipulator DP 100 200 6 10 26 06 With the Phantom you can move the displayed surface move the light zoom in or out move a virtual probe over the surface to feel different characteristics of the previously scanned surface or move the actual probe to feel the surface or make modifications 42 Controlling the SPM For Scanning During imaging the NanoManipulator provides many of the same controls as those in TM Microscopes SPMLab software Nanotec Electronica s WSxM software and IGOR software used with the Asylum Research AFM These basically determine parameters of the SPM tip scanning the surface The NanoManipulator adds force feedback and the ability to interact with the scanned surface 4 2 1 Modes Oscillating or Contact SPM software typically provides Oscillating mode or Contact mode during scanning The NanoManipulator enables the same set of parameters provided by the SPM as well as additional patameters for automatically switching modes In addition you can adjust the grid resolut
15. s one that ranges from red to gray to blue displays lower frequency variations well The NanoManipulator provides several different color maps from which to choose and enables you to define your own Calculate Data Planes The sample substrate often has a slope that is difficult to eliminate by positioning the sample under the SPM scanner The data can be automatically leveled using a flatten plane 3 2 3 lsovalue Contour Lines Contour lines show the values in a dataset by displaying iso lines for uniformly spaced data values Contour lines are traditionally used in terrain maps to show points of equal elevation 3 2 4 Lighting and Shading The surface displayed by the NanoManipulator is a grid of triangles whose vertices are data points returned from the SPM This surface is displayed as a shaded surface The surface can be opaque or partially transparent Lighting Specular lighting is view dependent It produces white highlights reflected off the surface from the light source These change if you move the surface or the light Diffuse lighting is not view dependent and contains the base color of the surface The NanoManipulator lets you adjust the relative amounts of these lights You can also control the sharpness of the specular highlight The position of the light is controlled interactively with the Phantom Section 4 Controlling the Scanning Probe Microscope The NanoManipulator is more than a visualization system for an SPM It
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