Publications

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The RoboHound{trademark} Project was a three-year, multiphase project at Sandia National Laboratories to build and refine a working prototype trace explosive detection system as a tool for a commercial robot. The RoboHound system was envisioned to be a tool for emergency responders to test suspicious items (i.e., packages or vehicles) for explosives while maintaining a safe distance. The project investigated combining Sandia's expertise in trace explosives detection with a wheeled robotic platform that could be programmed to interrogate suspicious items remotely for the presence of explosives. All of the RoboHound field tests were successful, especially with regards to the ability to collect and detect trace samples of RDX. The project has gone from remote sampling with human intervention to a fully automatic system that requires no human intervention until the robot returns from a sortie. A proposal is being made for additional work leading towards commercialization.

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The magnetically excited flexural plate wave (mag-FPW) device has great promise as a versatile sensor platform. FPW's can have better sensitivity at lower operating frequencies than surface acoustic wave (SAW) devices. Lower operating frequency (< 1 MHz for the FPW versus several hundred MHz to a few GHz for the SAW device) simplifies the control electronics and makes integration of sensor with electronics easier. Magnetic rather than piezoelectric excitation of the FPW greatly simplifies the device structure and processing by eliminating the need for piezoelectric thin films, also simplifying integration issues. The versatile mag-FPW resonator structure can potentially be configured to fulfill a number of critical functions in an autonomous sensored system. As a physical sensor, the device can be extremely sensitive to temperature, fluid flow, strain, acceleration and vibration. By coating the membrane with self-assembled monolayers (SAMs), or polymer films with selective absorption properties (originally developed for SAW sensors), the mass sensitivity of the FPW allows it to be used as biological or chemical sensors. Yet another critical need in autonomous sensor systems is the ability to pump fluid. FPW structures can be configured as micro-pumps. This report describes work done to develop mag-FPW devices as physical, chemical, and acoustic sensors, and as micro-pumps for both liquid and gas-phase analytes to enable new integrated sensing platform.

The strength and modulus of amorphous diamond, a new material for surface micromachined MEMS and sensors, was tested in uniaxial tension by pulling laterally with a flat tipped diamond in a nanoindenter. Several sample designs were attempted. Of those, only the single layer specimen with a 1 by 2 {micro}m gage cross section and a fixed end rigidly attached to the substrate was successful. Tensile load was calculated by resolving the measured lateral and normal forces into the applied tensile force and frictional losses. Displacement was corrected for machine compliance using the differential stiffness method. Post-mortem examination of the samples was performed to document the failure mode. The load-displacement data from those samples that failed in the gage section was converted to stress-strain curves using carefully measured gage cross section dimensions. Mean fracture strength was found to be 8.5 {+-} 1.4 GPa and the modulus was 831 {+-} 94 GPa. Tensile results are compared to hardness and modulus measurements made using a nanoindenter.

Chemical sensing with a magnetically excited flexural plate wave (mag- FPW) resonator has been demonstrated for the first time. One surface of the resonator was coated with ethyl cellulose to impart sensitivity to volatile solvents such as chloroform, tetrachloroethylene, trichloroethylene, and toluene. The absorbed mass of the analyte causes a shift in the membrane resonance frequency of the two-port mag-FPW resonator. An oscillator circuit is used to track the resonance frequency, providing a convenient means of monitoring analyte concentration levels. Analyte concentrations of 10 ppm were easily detected.