Molecular analysis using micro electro-mechanical sensor devices
09625401 ยท 2017-04-18
Assignee
Inventors
- Ralph G. Whitten (Truckee, CA, US)
- Jesse D. Adams (Reno, NV, US)
- David R. Halbert (Placerville, CA, US)
- Joseph P. Barrus (Reno, NV, US)
- Benjamin S. Rogers (Reno, NV, US)
Cpc classification
G01N25/20
PHYSICS
G01N33/54373
PHYSICS
International classification
G01N27/00
PHYSICS
G01N25/48
PHYSICS
G01N33/543
PHYSICS
Abstract
Analysis instruments and sensors, particularly micro-electro mechanical sensor (MEMS) devices, for molecular analysis of chemicals and other materials, including, for example, polymers, drugs, nanomaterials, biological samples including proteins, and environmental samples including water suspected of contamination, and the like in vapor, liquid, and/or solid form.
Claims
1. A sensor device for at least one of differential scanning calorimetry and differential thermal analysis of an analyte, the sensor device comprising: an array comprising a plurality of sensor cells arranged in at least one row and in at least one column, each sensor cell configured to receive analyte for analysis thereof, each sensor cell comprising: a heating element configured to heat at least one of the sensor cell or the analyte; and a temperature sensor element configured to sense a temperature response of at least one of the sensor cell and the analyte; and a controller configured to: drive the heating element of at least one sensor cell according to a first temperature ramp cycle while analyte is present on the at least one sensor cell; drive the heating element of the at least one sensor cell according to a second temperature ramp cycle to clean the at least one sensor cell; and drive the heating element of the cleaned at least one sensor cell according to a third temperature ramp cycle to obtain reference temperature data; and a processor configured to determine a difference between an output signal from the temperature sensor of the at least one sensor cell during the first temperature ramp cycle and an output signal from the temperature sensor of the at least one sensor cell during the third temperature ramp cycle.
2. The sensor device of claim 1, wherein each sensor cell includes a cantilever having an unsupported free end or microbridge structure comprising a bridge support structure.
3. The sensor device of claim 1, wherein each sensor cell includes a microbridge structure having a suspended platform.
4. The sensor device of claim 3, wherein the platform includes the heating element and temperature sensor element.
5. The sensor device of claim 1, wherein each sensor cell includes a cantilever having a doped electrically conductive portion extending along opposing edges of the cantilever and extending from a fixed end thereof toward a free end thereof.
6. The sensor device of claim 5, wherein each cantilever comprises a central portion between the electrically conductive portion, the central portion having a lower electrical conductivity than the electrically conductive portion.
7. The sensor device of claim 1, wherein each sensor comprises a cantilever, at least one cantilever comprising an electrically conductive portion along opposing edges of the at least one cantilever, the at least one cantilever comprising a slot located proximate a base of the at least one cantilever between the electrically conductive portion.
8. The sensor device of claim 1, wherein the controller is configured to drive the heating element of the at least sensor cell by providing power to a column associated with the at least sensor cell and a row associated with the at least one sensor cell.
9. The sensor device of claim 1, wherein each of the heating elements and each the temperature sensor elements comprise silicon, polysilicon, platinum, nichrome, tungsten, or titanium tungsten.
10. The sensor device of claim 1, wherein: the controller is configured to adjust a power applied to the at least one sensor cell to maintain a desired temperature during each of the first temperature ramp cycle and the third temperature ramp cycle; and the output signal from the temperature sensor of the at least one sensor cell comprises a sensor power required to maintain a temperature of the at least one sensor cell.
11. The sensor device of claim 1, wherein the processor is configured to sum an output from a plurality of the sensor cells to produce a summed response.
12. The sensor device of claim 1, wherein the processor is configured to determine a temperature of the at least one sensor cell during each of the first temperature ramp cycle and the third temperature ramp cycle as a function of time.
13. The sensor device of claim 1, wherein the processor is configured to determine a power required to maintain constant temperature of the at least one sensor cell during the first temperature ramp cycle and during the third temperature ramp cycle.
14. The sensor device of claim 1, wherein the plurality of sensor cells comprise a plurality of rectangular-shaped cantilevers and a plurality of triangular-shaped cantilevers.
15. The sensor device of claim 1, wherein the plurality of sensor cells comprise a plurality of cantilevers arranged in an alternating pattern, wherein a free end of each cantilever is proximate a fixed end of an adjacent cantilever and wherein the fixed end of the cantilever is adjacent a free end of the adjacent cantilever, adjacent cantilevers separated by a gap having a serpentine shape.
16. The sensor device of claim 1, wherein at least one sensor cell comprises a cantilever comprising alternating regions of doped silicon and undoped silicon between a doped electrically conductive portion extending along opposing edges thereof.
17. The sensor device of claim 16, wherein the alternating regions of doped silicon and undoped silicon exhibit are spaced from adjacent regions by varying distances.
18. The sensor device of claim 1, wherein the at least one sensor cell comprises a cantilever having a plurality of holes therein.
19. The sensor device of claim 18, wherein the plurality of holes are arranged in a pattern of rows.
20. The sensor device of claim 19, wherein the adjacent rows are spaced at different distances from each other.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, with a detailed description of the embodiments given below, serve to explain the principles of the invention.
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DETAILED DESCRIPTION
(34) While a number of MEMS-based sensor elements or devices are known, some of the most sensitive and effective are microcantilevers and microbridge structures. Microcantilever structures can take the form of an array of conventional diving board structures, or alternatively, a new configuration described herein as a radially oriented cantilever cluster. Suitable microcantilever structures for use herein, including conventional diving board type cantilever structures, are disclosed in U.S. Pat. No. 8,524,501, the contents of which is expressly incorporated by reference herein in its entirety.
(35) Matrix Arrays of MEMS Sensor Cells for Liquid Analysis
(36) Some liquid analysis applications, such as biological analysis, have existing conventions in the laboratory environment for how samples are organized and processed to determine their characteristics and constituents. One of these conventions is that of utilizing multi-cell sample cartridges, which contain a matrix of wells wherein different samples may be placed. A common size for this matrix contains 96 wells or cells where each may contain a different analyte sample, typically in solution with some form of buffer liquid. Other matrix sizes are also common. Another common analysis mode is for the matrix to contain a number of different samples but with repeats of each sample, for example, triplicate testing in which each sample is tested three times to repeat each experiment. For thermal analysis applications where a reference analysis cycle is compared with an analysis cycle for a specific analyte, there may also be cartridges containing solutions of buffer liquid that have no form of analyte, these being sometimes matched with a specific analyte solution and used in a corresponding reference analysis cycle.
(37) For applications where only a 96-cell sensor array 10 is required, the sensor array 10 shown in
(38) As further shown in
(39) In operation, power is applied to the heating element(s) of a desired cell(s) 12 in the sensor array 10, as shown by example in
(40) The sensed data can be collected, stored, and analyzed, such as by a common computer system. Along with an input/output (I/O) interface, each computing system can generally include a display and external devices. The I/O interface may be configured to receive data from the display and data from the external devices that is communicated to a processor and may be configured to output data from the processor to the display and external devices. The display may be, for example, a computer monitor or a screen on a mobile device. Alternatively, the display may be a touch screen that not only functions to permit a user to receive and view output data, but also functions to permit the user to input data with, for example, an onscreen virtual keyboard. The external devices may include, for example, additional user input devices such as a keyboard, a keypad, a mouse, a microphone, etc., and additional user output devices such as speakers, etc. The computer system may also include a network adapter, such as a network interface card or a transceiver, that supplies the physical connection with a network and that is configured to transmit and receive data over the network. External devices also can be, for example, the SPI I/O expander shown in
(41) In one embodiment of the invention, analysis cycles and reference cycles for differential analysis measurements are performed sequentially by repeated temperature ramp heat cycles on the same cell 12, as shown in
(42) If a separate reference cell is required for each cell that will perform analyte analysis, then as many as 192 cells 12 may be required for a cell matrix to analyze 96 samples. An exemplary cell sensor array 20 is shown in
(43) Microbridge Sensor Element Structures
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(45) As further shown in
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(50) In
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(54) Further embodiments of cantilevers 52 with slots 70 or holes 74 formed therethrough includes constructing cantilevers 52 that are stacked one above the other. In one example, using a double device layer wafer (not shown) with an extra oxide layer, it is possible to create stacked cantilever, bridge, and serpentine bridge structures that can be heated and sensed with current driven through the structures. A pair of stacked cantilever structures can be fabricated with holes 74 at different locations such that an air or liquid sample will have to make a sharp turn as it flows through a top cantilever and then to and through a second cantilever directly below it. This convoluted path design helps increase analyte interaction with the cantilever surface for better thermal interaction with the liquid and better capture efficiency for analytes in vapor analysis applications.
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(56) While a conventional array of microcantilevers would typically have cantilevers arranged in rows, other configurations are possible including the unique arrangement shown in
(57) The multi-cell structure of
(58) In another preferred embodiment, operation of the cluster 86 of cantilevers 52 can be performed as described in U.S. Pat. No. 8,524,501, the contents of which is expressly incorporated by reference herein in its entirety. As described therein, some of the cantilevers 52 in the cluster 86 can include a piezoelectric film (not shown) that allows the cantilevers 52 to be resonated and the frequency sensed so that the mass on the cantilever 52 can be measured. In another preferred embodiment, mass sensing analysis can be combined with thermal analysis. In this embodiment, some of the cantilevers 52 can include a piezoelectric film for mass sensing and some do not include the piezoelectric film but rather, include the heating structures described herein. The combined mass measurement data and thermal analysis data provides a more comprehensive analysis of the sample. In this analysis, at least a portion of the cantilevers in each cluster includes a chemically sensitive active area. Analysis of a sample can be performed by measuring the mass of the sample adsorbed or absorbed onto each of the resonating cantilevers and performing thermal analysis of the sample with non-resonating cantilevers. Alternatively, with more elaborate electronics to drive the cluster 86, each cantilever 52 in a cluster 86 can be actuated and sensed individually. In this embodiment, the individual resistors are wired out to the drive and sense circuitry to allow each heater and temperature sensor to be actuated individually with individual circuits or with a multiplexing circuit. Such implementations are routine for skilled electronics designers. Activating individual cantilevers 52 or a subset of cantilevers 52 in the cluster 86 may be useful to perform one test on a portion of the analyte retained on the cluster 86, followed by another test performed on a different portion of the analyte on the cluster 86. As with other sensor element configurations described herein, a cluster style structure can be utilized for analysis of vapor, liquid, and/or solid analytes.
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(60) When cantilever clusters 86, 90 are utilized, multiple cantilevers 52 in the clusters 86, 90 may be driven by a single driver or alternatively may be driven and sensed individually. If driven and sensed individually, the outputs of multiple cantilevers 52 performing a similar test on a single sample of analyte may be summed to produce a resultant response with advantages. For example, summing the signals from four identical DTA cantilever sensors, in this case, the arrowhead shaped cantilevers 52 in the radially oriented cluster 86, were found to produce signal sizes more than twice that produced by one sensor alone. At the same time, the noise floor was kept nearly the same, effectively boosting the signal-to-noise ratio. This technique can also improve the number of measurements, N, and therefore improve reliability and repeatability. The technique could be used with an algorithm that does not incorporate outlier data from any one of the N measurements into the average. By boosting the sensitivity this way, slower ramping rates can be employed in thermal analysis, enabling greater selectivity, for even lower amounts of analyte.
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(63) Since the top of all resistive sensor elements in a column is connected together, one connection is made from this common point to an analog mux as part of temperature sensing. All of the sensor elements in a row have their connection to an analog mux made in common, and a point on this common connection is selected to become the other sensing terminal as part of a 4-wire or Kelvin measurement scheme. The output of this analog mux entitled DCol is connected to a differential amplifier in
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(65) According to this invention, differential analysis using thermal techniques can be performed by way of a number of alternative embodiments. For thermal analysis where ovens and thermocouples are used, it is traditional to have a pair of similar crucibles and temperature sensing mechanisms in order to analyze both an analyte and a reference simultaneously, the results then being compared to produce a differential result. The present invention offers alternative embodiments where results to be compared differentially are acquired sequentially for both DTA and DSC.
(66) One embodiment of an analysis system according to the present invention, and compared with known DTA and DSC methodologies, utilizes the same sensor probe for both a primary measurement and a reference measurement while separating the measurements in time, hence, a temporally separated DTA or DSC analysis method, and eliminates the need to physically isolate the reference probe. This saves on complexity, size, and cost, while at the same time requiring fewer elements in a sensor array. Additionally, since fewer elements are required, it is then feasible to utilize multiple elements and perform redundant measurements, if advantageous for a particular application. The results of redundant measurements can then be averaged to produce more accurate and consistent results. Utilizing the same sensor probe for both primary and reference measurements has the additional benefit of removing from consideration subtle physical differences between primary measurement and reference sensor elements, since they are in fact the same element.
(67) With reference to
(68) A variation on the analysis method of
(69) Alternatively, if the presence of additional buffer solution is not detrimental to an analysis cycle on a solution containing analyte, the second step 302 may be skipped. In the third step 304, analyte solution is added to the same sensor well and a temperature ramp cycle is run on the analyte solution. In a final step 306, reference data is subtracted from the analyte analysis data in order to create data for a differential result.
(70) For some forms of liquid analysis, for example, especially in biological applications, it may be desirable to perform multiple measurements on one analyte sample where between measurements an additional liquid is added to the cell where the analyte sample is located. This titration method is typically referred to as Isothermal Titration calorimetry or ITC and the technique is understood to be well known in the art. In general, ITC is a quantitative technique that can directly measure the binding affinity, enthalpy changes, and binding stoichiometry of the interaction between two or more molecules in solution. Typically, a solution containing a biomolecule (solution A) is placed in a cell and a solution containing a ligand is injected into the cell multiple times. The system is programmed to maintain a constant temperature in the cell either increasing the power supplied to the cell to cause heating in the case of an endothermic reaction, or decreasing the power into the cell in the case of an exothermic reaction. Throughout the experiment and with each injection, the power required to maintain a constant temperature is recorded and compared to a reference cell that does not receive the injections of the ligand solution. If needed, reference data can be from an adjacent cell filled with Solution A or from a prior or subsequent test in the same cell that contains only Solution A and no ligand injections. Finally, reference data from the buffer solution A reference cycle is subtracted from the ligand injection data in order to create a differential data result. This ITC analysis method can be performed with very low volumes using the cell sensor arrays, as described herein, combined with small volume injections of ligand solutions made possible using, for example, commercially available ink jet and acoustic fluid transfer technologies, as known in the art. Such Ink jet technologies can transfer pL volumes, while acoustic technology can transfer down to 25 nL at the current time.
(71) With reference now to
(72) When doing differential thermal analysis (DTA) and applying a sequence of heating pulses to a cantilever and/or other sensor element, the analyte material collected on the sensor absorbs and/or releases heat that is detected by the sensor. If the first in a sequence of pulses is hot enough, the entirety of the analyte mass is removed in the analysis, and subsequent pulses can then provide a baseline corresponding to a clean sensor. However, if the first pulse is designed to be only hot enough (or energy enough) to remove only some of the analyte, then subsequent pulses will also be analyzing analyte mass. This technique can provide additional information about the analyte, possibly even information not available via the one hot pulse technique. For example, the lower-volatility component(s) of the analyte can remain on the sensor for the first pulse, while energy is absorbed by the higher-volatility component(s), which then desorb from the sensor. So the second, third, etc., pulses are then performed on a sub-set of the original analyte mass, representing a different overall composition, and by analyzing such subsets in this manner, a richer, more information-laden data set can be created, which can improve the performance of a pattern recognition algorithm used to identify the unknown analyte sample, and/or to identify various molecular components/mixtures in the sample.
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(74) In general, known systems perform DSC and DTA using two sample holders, one for the sample and one for a reference. The energy required to keep their temperatures the same, either in an isothermal mode or a temperature scanning mode, is the quantity measured. For example, if the sample melts, energy is supplied to the sample to keep its temperature the same as the reference; or, if the sample exothermally decomposes, less energy is supplied to the sample. In an alternative embodiment of the invention, this technique could be carried out with a pair of side-by-side resistive cantilevers. For example, the sample could be collected on both cantilevers and then one of the cantilevers could be cleaned off by applying heat using the integrated resistor (or even by performing a DTA or DSC test). This would create one clean reference and one sample-coated sensor, both in a nearly identical local environment. Here, the environmental fluctuations in temperature, humidity, pressure, etc., even vapors in the vicinity, would have equal effect on both sensors, thereby eliminating sensor responses to such environmental factors from the differential responses during DSC or DTA.
(75) Multiple Scan Rate Selectivity Enhancement for DSC and DTA
(76) Different biological molecules, like proteins, will unfold at different temperatures, and each different molecule type will sometimes also have a unique change in unfolding temperature as a function of heating scan/ramp rate. A first molecule type, for example, may melt at a 1.5 higher melting temperature when the heating rate is Y-times higher, however a second molecule type might melt at 1.8 higher temperature when the heating rate is Y-times higher. By performing multiple analyses quickly on multiple samples of the same analyte, multiple measurements can be taken at multiple heating rates providing additional information and thus improving the selectivity of the analysis overall.
(77) Electrolysis as a Signal Booster for Thermal Analysis of Liquids
(78) In one embodiment of the invention, resistance elements are formed in a cantilever or microbridge structure and are used to heat an analyte sample. Typically, a passivation layer may be formed over these heating structures such that they are electrically isolated from the analyte sample. Alternatively, by exposing a conductive heating structure such that it may interact with an analyte, a liquid analyte may undergo a form of electrolysis when voltage potentials exist across a heating structure, thereby conducting some amount of current through the analyte itself. When this occurs, the analyte sample has actually become part of the heating structure. Tests have shown that this functionality can boost a DSC or DTA signal resulting from a liquid analyte, in particular, containing a protein sample, whereby the electrolysis current in the liquid helps to instigate the denaturing process. As a result, the cantilever will have an amplified signal because more heat is applied to the sample than would otherwise be applied by heat transfer from a resistive heating element alone.
(79) Application of Thermoelectric Devices
(80) With reference now to
(81) Alternatively, a thermoelectric cooler/heater (TEC) 600 can be used in conjunction with a MEMS-Based microsensor array 606 to conduct DSC or DTA by first using the TEC device 600 to control and enhance the collection of vapor phase analyte, and then supply heat in the analysis itself by: 1. Lowering the sensor chip temperature to enhance collection efficiency. 2. Modulating the sensor chip temperature to preferentially absorb a specific type of analyte, such as using low temps for all volatilities or higher temps to collect mostly low volatility species. 3. Providing controlled heating to ensure that DSC or/and DTA are performed at a consistent temperature from run to run for better/easier pattern recognition, including, in some instances, the benefit of avoiding temperature compensation in post-processing of sensor data.
(82) Use of the TEC device 600 for heating ramps while performing DSC or DTA frees up the sensor chip's integrated resistor elements to serve solely as temperature sensor elements, instead of having to also, or only, be used as heating elements. As such, a very low-current (0.1 mA) short-duration (0.1 ms) pulse can be repeatedly applied to these resistors, which has little or no effect on their temperature as it is too short and small to cause self-heating throughout the analysis. Using the pulse height data (voltage measurements) gathered from temperature sensing resistors during the TEC-controlled heating/cooling programs is therefore a means of obtaining T vs. time plots used to differentiate analytes.
(83) Reverse DSC and DTA
(84) Using a thermoelectric cooler/heater, a two part DTA and/or DSC analysis can be performed using MEMS-based sensor devices as described herein. During Phase 1, the TEC device 600 is used to cool the sensor chip 601 in a programmed ramp. As the sensor chip cools in the immediate vicinity of analyte vapors or fluid, the analyte will begin collecting on the sensors (analyte can also be flowing past the sensor chip). Just as the temperatures at which rapid desorption and phase transitions can be observed when heating up, so too are these features observable when cooling down the sensor. So during the cooling period, one could observe condensation, solidification (freezing) and then as the subsequent heating phase (Phase 2) observe these same species as they melt and/or evaporate, and in some cases decompose.
(85) Array of Cantilevers for Emersion in Liquid Samples
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(87) Other Thermal Analysis Inventions
(88) A micro-sensor cantilever or bridge structure for DSC and DTA can be calibrated by depositing a known material, such as pentaerythritol tetranitrate (PETN), and identifying the melting point feature in the plot. This point will move depending on the amount of material for some thermal measurements but the clearly visible feature will indicate that the bulk of the material is at a specific temperature, for example, the melting temperature of PETN.
(89) The selectivity of an analysis system according to embodiments described herein can be increased by observing multiple decomposition paths of one analyte, for example, PETN or other thermally labile molecules. (This can also be helpful for molecules that can decompose differently in the presence of certain other chemicals). The temperature ramp of a collection surface or preconcentrator in an analysis system, which includes a collector or preconcentrator and an analysis instrument, can be varied from one measurement to another such that in one ramp a preconcentrator or collection surface is kept below the temperature or out of the chemical environment that causes the molecule to divide into two parts. In this way, the molecule will be passed from a preconcentrator to the sensors intact and will have a specific DTA or other analysis signature on the sensor. For example, PETN has a characteristic two-peak DTA signature. After the first ramp, a second sample of analyte or portion of the first sample can be ramped on the collection surface or in the preconcentrator to a temperature higher than the point where the molecule breaks into two or more pieces, or ramped in the presence of a chemical background that helps instigate this scission. In this case, the more volatile component that has broken loose may pass by the sensor and not stick as well, whereas the less volatile component will still adhere to the sensor. The analysis signal, for example, by DTA, will then look different in this case. For PETN, the higher the temperature the more the PETN DTA signal starts to become a one-peak signal. By combining the two signatures and the ramp rate, temperature, and condition information for both analyses into one data vector, more chemical information may be provided about the analyte and also more selectivity for the analysis instrument than just looking at the signature gathered from sample eluted at one ramp rate with one max ramp temperature.
(90) Selective thermally induced (with or without catalyst) chemical vapor deposition can be performed on sensors for chemical and explosives detection. The deposition or growth of a byproduct on the sensor when heated to very high temperatures is in the range of 100 C. to 1200 C. can be indicative of the environment that the sensor is in. For example, heating the cantilever in this range in the presence of carbon can deposit carbon nanotubes on the sensor if it has a base catalyst material already on its surface. In another example, heating Indium on the sensor in the presence of oxygen can create and leave behind indium oxide. This principle can be applied to other chemical pairs such that analytes of interest react with a catalyst on the cantilever or the cantilever itself to create a deposition that can be measured by a change in thermal response or a change in mass.
(91) By providing an analysis system using any combination of analysis methods described herein or otherwise known in the art, it is also possible to improve performance of a GC-MS analysis system by taking a small sample either separately or in-line with GC-MS to help select derivatizing reagents and system temperatures and protocols. The GC-MS often needs to be tuned for optimal performance depending on the type of analyte that is being analyzed and so for unknown samples, an analysis system as described herein can help direct the GC-MS operator to find the best settings more quickly by seeing that the sample is either low volatility, high volatility, or both. The analysis system can be configured to analyze just the low volatility, just the high volatility, or both, and can either be used to help set the protocol or help set the protocol and provide analysis information to be included in the GC-MS measurement information for added selectivity. This functionality can also be applied to other sensing systems like flame ionization detectors, PIDs, etc. An analysis system as described herein can also be coupled with a GC column as a stand-alone GC-sensor configuration.
(92) A mode of DTA or DSC operation is possible where a first ramp can provide a first indication of the composition and or identity an analyte, while a second ramp can prove or disprove the hypothesis resulting from the first indication. For example, a second ramp can stop before the burn temperature identified in the first ramp and show that the signal remains endothermic. In a similar mode, the DTA analysis is actively used to establish a feedback control loop that would, for example, trigger a temperature hold if a large endothermic response was seen in order to monitor evaporation and melting. For another example, a small observed endothermic response can trigger a faster ramp to enhance an exothermic phase, and possible deflagration, before the sample evaporates too quickly given a small amount of available mass.
(93) For analytical labs and potentially other application as well, it is possible to dissolve a sample in solution and then deposit a precise amount on a cantilever or microbridge sensor for analysis. Analysis could be done during injection, during evaporation of a solvent, or after the solvent has evaporated and left behind a solid sample. This can also be done with liquid samples for life science DSC and protein studies, for example. Finally, with two or more injectors, one could inject a liquid or solid solution of one type and another injector could inject a reactant liquid or solid, so as to study the interaction between the two on one sensor either in liquid or solid form. This could enable ITC for life science on a single cantilever or bridge sensor.
(94) The foregoing description of preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations will be apparent to one of ordinary skill in the relevant arts, while remaining within the scope of the appended claims. For example, steps performed in the embodiments of the invention disclosed can be performed in alternate orders, certain steps can be omitted, and additional steps can be added. The embodiments were chosen and described in order to best explain the principles of the invention and its practical application, thereby enabling others skilled in the art to understand the invention for various embodiments and with various modifications that are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the appended claims and their legal equivalents.