Patent Publication Number: US-2023158555-A1

Title: Debris Removal From High Aspect Structures

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This patent application is a continuation of U.S. patent application Ser. No. 17/348,217 filed Jun. 15, 2021 (now allowed), which is a continuation of U.S. patent application Ser. No. 16/516,842 filed Jul. 19, 2019 (issued as U.S. Pat. No. 11,040,379), which is a divisional of U.S. patent application Ser. No. 15/160,263 filed May 20, 2016 (issued as U.S. Pat. No. 10,384,238), which is a continuation-in-part of U.S. patent application Ser. No. 15/011,411 filed on Jan. 29, 2016 (issued as U.S. Pat. No. 10,618,080), which is a continuation-in-part of U.S. patent application Ser. No. 14/193,725 filed on Feb. 28, 2014, which is a divisional of U.S. patent application Ser. No. 13/652,114 filed on Oct. 15, 2012 (issued as U.S. Pat. No. 8,696,818), which is a continuation of U.S. patent application Ser. No. 11/898,836 filed on Sep. 17, 2007 (issued as U.S. Pat. No. 8,287,653), all of which are incorporated herein by reference in their entirety. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates generally to nanomachining processes. More particularly, the present disclosure relates to debris removal during and/or after to nanomachining processes. In addition, the debris removal processes of the present disclosure can be applied to removal of anything foreign to a substrate. 
     BACKGROUND 
     Nanomachining, by definition, involves mechanically removing nanometer-scaled volumes of material from, for example, a photolithography mask, a semiconductor substrate/wafer, or any surface on which scanning probe microscopy (SPM) can be performed. For the purposes of this discussion, “substrate” will refer to any object upon which nanomachining may be performed. 
     Examples of photolithography masks include: standard photomasks (193 nm wavelength, with or without immersion), next generation lithography mask (imprint, directed self-assembly, etc.), extreme ultraviolet lithography photomasks (EUV or EUVL), and any other viable or useful mask technology. Examples of other surfaces which are considered substrates are membranes, pellicle films, micro-electronic/nano-electronic mechanical systems MEMS/NEMS. Use of the terms, “mask”, or “substrate” in the present disclosure include the above examples, although it will be appreciated by one skilled in the art that other photomasks or surfaces may also be applicable. 
     Nanomachining in the related art may be performed by applying forces to a surface of a substrate with a tip (e.g., a diamond cutting bit) that is positioned on a cantilever arm of an atomic force microscope (AFM). More specifically, the tip may first be inserted into the surface of the substrate, and then the tip may be dragged through the substrate in a plane that is parallel to the surface (i.e., the xy-plane). This results in displacement and/or removal of material from the substrate as the tip is dragged along. 
     As a result of this nanomachining, debris (which includes anything foreign to the substrate surface) is generated on the substrate. More specifically, small particles may form during the nanomachining process as material is removed from the substrate. These particles, in some instances, remain on the substrate once the nanomachining process is complete. Such particles are often found, for example, in trenches and/or cavities present on the substrate. 
     In order to remove debris, particles or anything foreign to the substrate, particularly in high-aspect photolithography mask structures and electronic circuitry; wet cleaning techniques have been used. More specifically, the use of chemicals in a liquid state and/or agitation of the overall mask or circuitry may be employed. However, both chemical methods and agitation methods such as, for example, megasonic agitation, can adversely alter or destroy both high-aspect ratio structures and mask optical proximity correction features (i.e., features that are generally so small that these features do not image, but rather form diffraction patterns that are used beneficially by mask designers to form patterns). 
     In order to better understand why high-aspect shapes and structures are particularly susceptible to being destroyed by chemicals and agitation; one has to recall that such shapes and structures, by definition, include large amounts of surface area and are therefore very thermodynamically unstable. As such, these shapes and structures are highly susceptible to delamination and/or other forms of destruction when chemical and/or mechanical energy is applied. 
     It is important to note that in imprint lithography and EUV (or EUVL) that use of a pellicle to keep particles off the lithographic surface being copied is currently not feasible. Technologies that cannot use pellicles are generally more susceptible to failure by particle contamination which blocks the ability to transfer the pattern to the wafer. Pellicles are in development for EUV masks, but as prior experience with DUV pellicle masks indicates, the use of a pellicle only mitigates (but does not entirely prevent) critical particle and other contaminates from falling on the surface and any subsequent exposure to the high-energy photons will tend to fix these particles to the mask surface with a greater degree of adhesion. In addition, these technologies may be implemented with smaller feature sizes (1 to 300 nm), making them more susceptible to damage during standard wet clean practices which may typically be used. In the specific case of EUV or EUVL, the technology may require the substrate be in a vacuum environment during use and likely during storage awaiting use. In order to use standard wet clean technologies, this vacuum would have to be broken which could easily lead to further particle contamination. 
     Other currently available methods for removing debris from a substrate make use of cryogenic cleaning systems and techniques. For example, the substrate containing the high-aspect shapes and/or structures may be effectively “sandblasted” using carbon dioxide particles instead of sand. 
     However, even cryogenic cleaning systems and processes in the related art are also known to adversely alter or destroy high-aspect features. In addition, cryogenic cleaning processes affect a relatively large area of a substrate (e.g., treated areas may be approximately 10 millimeters across or more in order to clean debris with dimensions on the order of nanometers). As a result, areas of the substrate that may not need to have debris removed therefrom are nonetheless exposed to the cryogenic cleaning process and to the potential structure-destroying energies associated therewith. It is noted that there are numerous physical differences between nano and micro regimes, for the purposes here, the focus will be on the differences related to nanoparticle cleaning processes. There are many similarities between nano and macro scale cleaning processes, but there are also many critical differences. For the purposes of this disclosure, the common definition of the nanoscale is of use: this defines a size range of 1 to 100 nm. This is a generalized range since many of processes reviewed here may occur below this range (into atomic scales) and be able to affect particles larger than this range (into the micro regime). 
     Some physical differences between macro and nano particle cleaning processes include transport related properties including: surface area, mean free path, thermal, and field-effects. The first two in this list are more relevant to the thermo-mechanical-chemical behavior of particles while the last one is more concerned with particle interactions with electromagnetic fields. Thermal transport phenomenon intersects both of these regimes in that it is also the thermo-mechanical physical chemistry around particles and the interaction of particles with electromagnetic fields in the infrared wavelength regime. To functionally demonstrate some of these differences, a thought experiment example of a nanoparticle trapped at the bottom of a high aspect line and space structure (70 nm deep and 40 nm wide ˜AR=1.75) is posited. In order to clean this particle with macroscale processes, the energy required to remove the particle is approximately the same as the energy required to damage features or patterns on the substrate, thereby making it impossible to clean the high aspect line and space structure without damage. For macro-scale cleaning processes (Aqueous, Surfactant, Sonic Agitation, etc.), at the energy level where the nanoparticle is removed, the surrounding feature or pattern is also damaged. If one has the technical capability to manipulate nano-sharp (or nanoscale) structures accurately within nano-distances to the nanoparticle, then one may apply the energy to clean the nanoparticle to the nanoparticle only. For nanoscale cleaning processes, the energy required to remove the nanoparticle is applied only to the nanoparticle and not the surrounding features or patterns on the substrate. 
     First, looking at the surface area properties of particles, there are mathematical scaling differences which are obvious as a theoretical particle (modelled here as a perfect sphere) approaches the nanoscale regime. The bulk properties of materials are gauged with the volume of materials while the surface is gauged by the external area. For a hypothetical particle, its volume decreases inversely by the cube (3 rd  power) while the surface area decreases by the square with respect to the particle&#39;s diameter. This difference means that material properties which dominate the behavior of a particle at macro, and even micro, scale diameters become negligible into the nano regime (and smaller). Examples of these properties include mass and inertial properties of the particle, which is a critical consideration for some cleaning techniques such as sonic agitation or laser shock. 
     The next transport property examined here is the mean free path. For macro to micro regimes, fluids (in both liquid, gaseous, and mixed states) can be accurately modelled in their behavior as continuum flow. When considering surfaces, such as the surface of an AFM tip and a nanoparticle, that are separated by gaps on the nanoscale or smaller, these fluids cannot be considered continuum. This means that fluids do not move according to classical flow models, but can be more accurately related to the ballistic atomic motion of a rarefied gas or even a vacuum. For an average atom or molecule (approximately 0.3 nm in diameter) in a gas at standard temperature and pressure, the calculated mean free path (i.e., distance in which a molecule will travel in a straight line before it will on average impact another atom or molecule) is approximately 94 nm, which is a large distance for an AFM scanning probe. Since fluids are much denser than gasses, they will have much smaller mean free paths, but it must be noted that the mean free path for any fluid cannot be less than the atom or molecule&#39;s diameter. If we compare the assumed atom or molecule diameter of 0.3 nm given above to the typical tip to surface mean separation distance during non-contact scanning mode which can be as small as 1 nm, thus except for the most dense fluids, the fluid environment between an AFM tip apex and the surface being scanned will behave in a range of fluid properties from rarefied gas to near-vacuum. The observations in the prior review are crucial to demonstrating that thermo-fluid processes behave in fundamentally different ways when scaled from the macro to nano scale. This affects the mechanisms and kinetics of various process aspects such as chemical reactions, removal of products such as loose particles to the environment, charging or charge neutralization, and the transport of heat or thermal energy. 
     The known thermal transport differences from macro and nano to sub-nano scales has been found by studies using scanning thermal probe microscopy. One early difference seen is that the transport rate of thermal energy can be an order of magnitude less across nanoscale distances than the macro scale. This is how scanning thermal probe microscopy can work with a nano probe heated to a temperature difference of sometimes hundreds of degrees with respect to a surface it is scanning in non-contact mode with tip to surface separations as small as the nano or Angstrom scale. The reasons for this lower thermal transport are implied in the prior section about mean free path in fluids. One form of thermal transport, however, is enhanced which is blackbody radiation. It has been experimentally shown that the Plank limit for blackbody spectral radiance at a given temperature can be exceeded at nanoscale distances. Thus, not only does the magnitude of thermal transport decrease, but the primary type of transport, from conduction/convection to blackbody which is in keeping with the rarefied to vacuum fluid behavior, changes. 
     Differences in the interactions of fields (an electromagnetic field is the primary intended example here due to its longer wavelengths compared to other possible examples), for the purposes in this discussion, could be further sub-classified as wavelength related and other quantum effects (in particular tunneling). At nanoscales, the behavior of electromagnetic fields between a source (envisioned here as the apex of an AFM tip whether as the primary source or as a modification of a relatively far field source) and a surface will not be subject to wavelength dependent diffraction limitations to resolution that far field sources will experience. This behavior, commonly referred to as the near-field optics, has been used with great success in scanning probe technologies such as near field scanning optical microscopy (NSOM). Beyond applications in metrology, the near field behavior can affect the electromagnetic interaction of all nanoscale sized objects spaced nano-distances from each other. The next near-field behavior mentioned is quantum tunneling where a particle, in particular an electron, can be transported across a barrier it could not classically penetrate. This phenomenon allows for energy transport by a means not seen at macro scales, and is used in scanning tunneling microscopy (STM) and some solid-state electronic devices. Finally, there are more esoteric quantum effects often seen with (but not limited to) electromagnetic fields at nanoscales, such as proximity excitation and sensing of plasmonic resonances, however, it will be appreciated by one skilled in the art that the current discussion gives a sufficient demonstration of the fundamental differences between macro and nano-scale physical processes. 
     In the following, the term “surface energy” may be used to refer to the thermodynamic properties of surfaces which are available to perform work (in this case, the work of adhesion of debris to the surfaces of the substrate and the tip respectively). One way to classically calculate this is the Gibb&#39;s free energy which is given as: 
         G ( p,T )= U+pV−TS    
     where: 
     U=Internal Energy; 
     p=Pressure; 
     V=Volume; 
     T=Temperature; and 
     S=Entropy. 
     Since the current practice does not vary pressure, volume, and temperature (although this does not need to be the case since these parameters could equally be manipulated to get the desired effects as well) they will not be discussed in detail. Thus, the only terms being manipulated in the equation above will be internal energy and entropy as driving mechanisms in the methods discussed below. Entropy, since it is intended that the probe tip surface will be cleaner (i.e., no debris or unintended surface contaminates) than the substrate being cleaned is naturally a thermodynamic driving mechanism to preferentially contaminate the tip surface over the substrate (and then subsequently, contaminate the cleaner pallet of soft material). The internal energy is manipulated between the pallet, tip, debris, and substrate surfaces by the thermophysical properties characterized by their respective surface energies. One way to relate the differential surface energy to the Gibbs free energy is to look at theoretical developments for the creep properties of engineering materials at high temperatures (i.e., a significant fraction of their melting point temperature) for a cylinder of radius r, and length l, under uniaxial tension P: 
     
       
      
       dG=−P*dl+γ*dA  
      
         
         
           
             where 
             γ=Surface energy density [J/m 2 ]; and 
             A=Surface area [m 2 ].
 
The observation that the stress and extrinsic surface energy of an object are factors in its Gibbs free energy induces one to believe these factors (in addition to the surface energy density γ) could also be manipulated to perform reversible preferential adhesion of the debris to the tip (with respect to the substrate) and then subsequently the soft pallet. Means to do this include applied stress (whether externally or internally applied) and temperature. It should be noted that it is intended that the driving process will always result in a series of surface interactions with a net ΔG&lt;0 in order to provide a differential surface energy gradient to preferentially decontaminate the substrate and subsequently preferentially contaminate the soft pallet. This could be considered analogous to a ball preferentially rolling down an incline to a lower energy state (except that, here, the incline in thermodynamic surface energy also includes the overall disorder in the whole system or entropy).  FIG.  6    shows one possible set of surface interactions where the method described here could provide a down-hill thermodynamic Gibbs free energy gradient to selectively remove a contaminate and selectively deposit it on a soft patch. This sequence is one of the theoretical mechanisms thought to be responsible for the current practice aspects using low surface energy fluorocarbon materials with medium to low surface energy tip materials such as diamond.
 
           
         
       
    
     SUMMARY 
     At least in view of the above, there is a desire for novel apparatuses and methods for removing debris, contaminates, particles or anything foreign to the substrate surface, and in particular, novel apparatuses and methods capable of cleaning substrates with high aspect ratio structures, photomask optical proximity correction features, etc., without destroying such structures and/or features on a nanoscale. 
     According to an aspect of the present disclosure, a nano-scale metrology system for detecting contaminates is provided. The system includes a scanning probe microscopy (SPM) tip, an irradiation source, an irradiation detector, an actuator, and a controller. The irradiation source is configured and arranged to direct an incident irradiation onto the SPM tip. The irradiation detector is configured and arranged to receive a sample irradiation from the SPM tip, the sample irradiation being caused by the incident irradiation. The actuator system is operatively coupled to the nano-scale metrology system and configured to effect relative motion between the SPM tip and at least one of the irradiation source and the irradiation detector. The controller is operatively coupled to the actuator system and the irradiation detector, and the controller being configured to receive a first signal based on a first response of the irradiation detector to the sample irradiation, and is configured to effect relative motion between the SPM tip and at least one of the irradiation detector and the irradiation source via the actuator system based on the first signal. 
     In accordance with one aspect of the nano-scale metrology system in the present disclosure, the actuator system is operatively coupled to the SPM tip, and the actuator system includes a rotary actuator configured to rotate the SPM tip about a first axis. 
     In accordance with one aspect of the nano-scale metrology system in the present disclosure, the irradiation source is an x-ray source, a laser, a visible light source, an infrared light source, an ultraviolet light source, or an electron beam source. 
     In accordance with one aspect of the nano-scale metrology system in the present disclosure, the controller is further configured to generate a first frequency domain spectrum of the sample irradiation based on the first signal, generate a second frequency domain spectrum by subtracting a background frequency domain spectrum from the first frequency domain spectrum, and effect relative motion between the SPM tip and at least one of the irradiation detector and the irradiation source via the actuator system based on the second frequency domain spectrum. In accordance with one aspect of the nano-scale metrology system in the present disclosure, the controller is further configured to generate the background frequency domain spectrum based on a response of the irradiation detector to irradiation of the SPM tip when the SPM tip is substantially free from contamination. 
     In accordance with one aspect of the nano-scale metrology system in the present disclosure, the controller is further configured to receive a second signal based on a second response of the irradiation detector to the sample irradiation, and effect relative motion between the SPM tip and at least one of the irradiation detector and the irradiation source via the actuator system based on a difference between the first signal and the second signal. In accordance with one aspect of the nano-scale metrology system in the present disclosure, the controller is further configured to effect a magnitude of relative motion between the SPM tip and at least one of the irradiation detector and the irradiation source based on the difference between the first signal and the second signal. 
     According to an aspect of the present disclosure, a metrology system with a collector is provided. The metrology system includes a collector, an irradiation source, an irradiation detector, a scanning probe microscopy (SPM) tip, and an actuator system. The collector may have a first internal edge on a first surface of the collector, a second internal edge on a second surface of the collector, the second surface being opposite the first surface, and an internal surface extending from the first internal edge to the second internal edge, the internal surface defining at least a portion of a collection pocket or a collection through-hole therein. The irradiation source is configured and arranged to receive a sample irradiation from the internal surface of the collector, the sample irradiation being caused by the incident irradiation. The actuator system is operatively coupled to the SPM tip and configured to move the SPM tip relative to the collector for transfer of at least one particle or debris from the SPM tip to the collector. 
     In accordance with one aspect of the metrology system in the present disclosure, a width of the collection through-hole increases along a direction through the collector from the first surface toward the second surface. 
     In accordance with one aspect of the metrology system in the present disclosure, the first internal edge defines a rectangular outline of the collection pocket or the collection through-hole. In accordance with one aspect of the present disclosure, a length of each segment of the rectangular outline is less than or equal to 10 mm. 
     In accordance with one aspect of the metrology system in the present disclosure, the first internal edge defines a triangular outline of the collection pocket or the collection through-hole. In accordance with one aspect of the present disclosure, a length of each segment of the triangular outline is less than or equal to 10 mm. 
     In accordance with one aspect of the metrology system in the present disclosure, the first internal edge defines an arcuate cross section of the collection pocket or the collection through-hole, and the arcuate cross section is a circular, elliptical or oval outline. In accordance with one aspect of the present disclosure, the first internal edge defines a circular outline, and a diameter of the circular outline is less than or equal to 10 mm. 
     In accordance with one aspect of the metrology system in the present disclosure, the metrology system further includes a controller operatively coupled to the actuator system, the controller being configured to transfer a particle from the SPM tip to the collection pocket or the collection through-hole of the collector by dragging the SPM tip against the first internal edge. 
     In accordance with one aspect of the metrology system in the present disclosure, the internal surface of the collector forms a through-hole passage. In accordance with one aspect of the present disclosure, the through-hole passage is a truncated tetrahedron passage, a truncated conical passage, a truncated tetrahedral passage, or a truncated pyramidal passage. 
     In accordance with one aspect of the metrology system in the present disclosure, the SPM tip includes a tetrahedral shape, a conical shape, or a pyramidal shape. 
     In accordance with one aspect of the metrology system in the present disclosure, the collection pocket or the collection through-hole is removably mounted to the metrology system. 
     According to an aspect of the present disclosure, a particle collection and metrology system is provided. The particle collection and metrology system includes a scanning probe microscopy (SPM) tip, a stage configured to support a substrate, an actuation system, an irradiation source, an irradiation detector, and a controller. The actuation system is operatively coupled to the stage and the SPM tip, the actuation system being configured to move the SPM tip relative to the stage. The irradiation source is in optical communication with a metrology location, and the irradiation detector is in optical communication with the metrology location. The controller is operatively coupled to the actuation system, the irradiation source, and the irradiation detector. The controller is further configured to move the SPM tip from a location proximate to the substrate to the metrology location, and to receive a first signal from the irradiation detector indicative of a response of the irradiation detector to a first sample irradiation from the metrology location, the first sample irradiation being caused by a first incident irradiation from the irradiation source. 
     In accordance with one aspect of the particle collection and metrology system in the present disclosure, the metrology location is disposed on at least a portion of the SPM tip, and the controller is further configured to cause the first sample irradiation by irradiating the metrology location with the first incident irradiation. 
     In accordance with one aspect of the particle collection and metrology system in the present disclosure, the particle collection and metrology system further includes a particle collector, the metrology location being disposed on at least a portion of the particle collector. The controller is further configured to cause the first sample irradiation by irradiating the metrology location with the first incident irradiation. 
     In accordance with one aspect of the particle collection and metrology system in the present disclosure, the controller is further configured to transfer a particle from the substrate to the metrology location via the SPM tip. 
     In accordance with one aspect of the particle collection and metrology system in the present disclosure, the particle collection and metrology system further includes a patch of a material, the material having a surface energy that is lower than a surface energy of the substrate, wherein the SPM tip includes a nanometer-scaled coating of the material thereon. 
     In accordance with one aspect of the particle collection and metrology system in the present disclosure, the controller is further configured to effect contact between the SPM tip and the patch, thereby coating the SPM tip with the material. 
     In accordance with one aspect of the particle collection and metrology system in the present disclosure, the actuation system includes a tip actuation system operatively coupled to the SPM tip and a stage actuation system operatively coupled to the stage. The tip actuation system is configured to move the SPM tip relative to a base, and the stage actuation system is configured to move the stage relative to the base. 
     In accordance with one aspect of the particle collection and metrology system in the present disclosure, the particle collector is a collection pocket or a collection through-hole. The particle collector includes at least a first internal edge. The at least first internal edge defines one of a triangular, rectangular, circular, elliptical, or oval outline. In accordance with one aspect of the present disclosure, the first internal edge defines a triangular or rectangular outline, and wherein each segment of the triangular or rectangular outline includes a length of less than or equal to 10 mm. In accordance with one aspect of the present disclosure, the first internal edge defines a circular outline, and a diameter of the circular outline is less than or equal to 10 mm. 
     In accordance with one aspect of the particle collection and metrology system in the present disclosure, particle collector includes a first internal edge on a first surface of the collector, a second internal edge on a second surface of the collector, the second surface being opposite the first surface, and an internal surface extending from the first internal edge to the second internal. In accordance with one aspect of the present disclosure, the internal surface forms a through-hole passage. The through-hole passage is a truncated tetrahedron passage, truncated conical passage, or a truncated pyramidal passage. 
     In accordance with one aspect of the particle collection and metrology system in the present disclosure, the SPM tip includes a tetrahedral shape, a conical shape, or a pyramidal shape. 
     In accordance with one aspect of the particle collection and metrology system in the present disclosure, the patch is removably mounted to the stage. In accordance with one aspect of the particle collection and metrology system in the present disclosure, the collection pocket or the collection through-hole is removably mounted to the stage. 
     According to an aspect of the present disclosure, a method of determining a composition of a particle using a scanning probe microscopy (SPM) tip is provided. The method includes transferring the particle to the SPM tip; irradiating the SPM tip with a first incident irradiation from an irradiation source; detecting a first sample irradiation caused by the first incident irradiation with an irradiation detector; and effecting relative motion between the SPM tip and at least one of the irradiation source and the irradiation detector based on a first signal from the irradiation detector in response to the first sample irradiation. 
     In accordance with an aspect of the method for determining the composition of the particle on the SPM tip, the method further includes generating a first frequency domain spectrum of the first sample irradiation based on the first signal; generating a second frequency domain spectrum by subtracting a background frequency domain spectrum from the first frequency domain spectrum; and effecting relative motion between the SPM tip and at least one of the irradiation source and the irradiation detector based on the second frequency domain spectrum. 
     In accordance with an aspect of the method for determining the composition of the particle on the SPM tip, the method further includes generating the background frequency domain spectrum based on a response of the irradiation detector to irradiation of the SPM tip when the SPM tip is substantially free from contamination. 
     In accordance with an aspect of the method for determining the composition of the particle on the SPM tip, the method further includes irradiating the SPM tip with a second incident irradiation from the irradiation source; detecting a second sample irradiation caused by the second incident irradiation with the irradiation detector; and effecting relative motion between the SPM tip and at least one of the irradiation source and the irradiation detector based on a second signal from the irradiation detector in response to the second sample irradiation. 
     In accordance with an aspect of the method for determining the composition of the particle on the SPM tip, the method further includes effecting relative motion between the SPM tip and at least one of the irradiation source and the irradiation detector based on a difference between the second signal and the first signal. 
     In accordance with an aspect of the method for determining the composition of the particle on the SPM tip, the first incident irradiation from the irradiation source is at least one of an x-ray, visible light, infrared light, ultraviolet light, an electron beam, and a laser. In accordance with an aspect of the method for determining the composition of the particle on the SPM tip, the second incident irradiation from the irradiation source is at least one of an x-ray, visible light, infrared light, ultraviolet light, an electron beam, and a laser. The second incident irradiation is a different type of irradiation than the first incident irradiation. In one aspect, the first sample irradiation is generated by the first incident irradiation interacting with the SPM tip. In one aspect, the interacting may include one or more of the first incident irradiation being reflected, refracted, or absorbed and re-emitted by the SPM tip. In one aspect, the first sample irradiation is generated by the first incident irradiation interacting with debris disposed on the SPM tip. In one aspect, the interacting may include one or more of the first incident irradiation being reflected, refracted, or absorbed and re-emitted by debris disposed on the SPM tip. 
     In accordance with an aspect of the method for determining the composition of the particle on the SPM tip, the method further includes adjusting an intensity or frequency of the first incident irradiation from the irradiation source. In one aspect, the method further includes adjusting an intensity or frequency of the second incident irradiation from the irradiation source. 
     According to an aspect of the present disclosure, a method for determining a composition of a particle removed from a substrate is provided. The method includes transferring a particle from the substrate to a scanning probe microscopy (SPM) tip; irradiating the particle with a first incident irradiation from an irradiation source; and receiving a first sample irradiation from the particle at an irradiation detector, the first sample irradiation being caused by the first incident irradiation. 
     In accordance with an aspect of the method for determining the composition of the particle removed from the substrate, the first sample irradiation from the particle is received by the irradiation detector while the particle is disposed on the SPM tip. 
     In accordance with an aspect of the method for determining the composition of the particle removed from the substrate, the transferring of the particle from the substrate to the SPM tip includes contacting the SPM tip against the substrate and moving the SPM tip relative to the substrate. 
     In accordance with an aspect of the method for determining the composition of the particle removed from the substrate, the method further comprises transferring the particle to a metrology location using the SPM tip. 
     In accordance with an aspect of the method for determining the composition of the particle removed from the substrate, the method further includes transferring the particle from the SPM tip to a particle collector with a metrology location defined on the particle collector. The first sample irradiation from the particle is received by the irradiation detector while the particle is disposed on the metrology location. The transferring of the particle from the SPM tip to the particle collector includes contacting the SPM tip against the metrology location and moving the SPM tip relative to the metrology location. 
     In accordance with an aspect of the method for determining the composition of the particle removed from the substrate, the particle collector is a collection pocket or collection through-hole includes at least one contaminate collection edge, and the transferring of the particle from the SPM tip to the particle collector includes maneuvering the SPM tip to brush against or drag against the at least one contaminate collection edge. In accordance with one aspect, the maneuvering includes moving the SPM tip towards and then away from the at least one contaminate collection edge. In one aspect, the moving of the SPM tip may include a scraping and/or wiping motion. In accordance with one aspect, the maneuvering includes moving the SPM tip upward past the at least one contaminate collection edge, and the maneuvering further includes moving the SPM tip downward past the at least one contaminate collection edge. In accordance with one aspect, the maneuvering includes moving the SPM tip upwards and away from a center of the particle collector. In accordance with one aspect, the maneuvering includes moving the SPM downwards and towards a center of the particle collector. In accordance with one aspect, the maneuvering includes moving the SPM tip in a parabolic trajectory. In accordance with one aspect, the maneuvering further includes rotating the SPM tip to enable debris deposited on a different portion of the SPM tip to be transferred from the SPM tip to the particle collector. 
     According to an aspect of the present disclosure, an article of manufacture comprising non-transient machine-readable media encoding instructions thereon for causing a processor to determine a composition of a particle on a scanning probe microscopy (SPM) is provided. The encoding instructions of the article of manufacture may be used to perform steps of detecting a first sample irradiation with an irradiation detector, the first sample irradiation being in response to a first incident irradiation from an irradiation source; and effecting relative motion between the SPM tip and at least one of the irradiation source and the irradiation detector based on a first signal from the irradiation detector in response to the first sample irradiation. 
     There has thus been outlined, rather broadly, certain aspects of the invention in order that the detailed description thereof herein may be better understood, and in order that the present contribution to the art may be better appreciated. There are, of course, additional aspects of the invention that will be described below and which will form the subject matter of the claims appended hereto. 
     In this respect, before explaining the various aspects of the present disclosure in greater detail, it is to be understood that the invention is not limited in its application to the details of construction and to the arrangements of the components set forth in the following description or illustrated in the drawings. The invention is capable of embodiments in addition to those described and of being practiced and carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein, as well as the abstract, are for the purpose of description and should not be regarded as limiting. 
     As such, those skilled in the art will appreciate that the conception upon which this disclosure is based may readily be utilized as a basis for the designing of other structures, methods and systems for carrying out the several purposes of the present disclosure. Therefore, that the claims should be regarded as including such equivalent constructions insofar as they do not depart from the spirit and scope of the present disclosure. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIGS.  1 A to  1 C  illustrate cross-sectional views of a portion of a debris removal device during a sequence of surface interactions in accordance with aspects of the present disclosure. 
         FIG.  2    illustrates a cross-sectional view of a portion of a debris removal device in accordance with aspects of the present disclosure. 
         FIG.  3    illustrates a cross-sectional view of another portion of the debris removal device illustrated in  FIG.  2   . 
         FIG.  4    illustrates a cross-sectional view of the portion of the debris removal device illustrated in  FIG.  2   , wherein particles are being imbedded in the patch or reservoir of low energy material. 
         FIG.  5    illustrates a cross-sectional view of the portion of the debris removal device illustrated in  FIG.  4   , wherein the tip is no longer in contact with the patch or reservoir of low energy material. 
         FIG.  6    illustrates a cross-sectional view of a tip with bristles or fibrils in accordance with aspects of the present disclosure. 
         FIGS.  7 A and  7 B  illustrate the general differences between a stiff fibril and a wrap fibril in accordance with aspects of the present disclosure. 
         FIGS.  8 A to  8 C  illustrate a process of dislodging and removing a nanoparticle from a target substrate using a single stiff fibril in accordance with aspects of the present disclosure. 
         FIGS.  9 A to  9 C  illustrate a process of dislodging and removing a nanoparticle from a target substrate using a plurality of stiff fibrils in accordance with aspects of the present disclosure. 
         FIGS.  10 A to  10 C  illustrate a process of removing a nanoparticle from a target substrate using a single wrap fibril in accordance with aspects of the present disclosure. 
         FIGS.  11 A to  11 D  illustrate a process of removing a nanoparticle from a target substrate using a plurality of wrap fibrils in accordance with aspects of the present disclosure. 
         FIG.  12    illustrates a perspective view of a debris collection apparatus including at least one patch in accordance with aspects of the present disclosure. 
         FIG.  13    illustrates a perspective view of a debris collection apparatus including at least two patches in accordance with aspects of the present disclosure. 
         FIG.  14    illustrates a perspective view of a debris collection apparatus including a controller in accordance with aspects of the present disclosure. 
         FIG.  15    illustrates a perspective view of a debris collection apparatus including a metrology system in accordance with aspects of the present disclosure. 
         FIG.  16    illustrates a perspective view of a debris collection apparatus including a metrology system and a controller in accordance with aspects of the present disclosure. 
         FIGS.  17 A and  17 B  illustrate a top and a side view, respectively, of a debris collection apparatus including a metrology apparatus in accordance with aspects of the present disclosure. 
         FIGS.  18 A and  18 B  illustrate a top and a side view, respectively, of a debris collection apparatus including a metrology apparatus and a controller in accordance with aspects of the present disclosure. 
         FIGS.  19 A and  19 B  illustrate a top and a side view, respectively, of a debris collection apparatus including a metrology apparatus and a plurality of patches and/or debris collectors in accordance with aspects of the present disclosure. 
         FIGS.  20 A and  20 B  illustrate a top and a side view, respectively, of a debris collection apparatus including a metrology apparatus with a controller and a plurality of patches and/or debris collectors in accordance with aspects of the present disclosure. 
         FIGS.  21 A and  21 B  illustrate a top and a side view, respectively, of a debris collection apparatus including a robotic arm in accordance with aspects of the present disclosure. 
         FIGS.  22 A and  22 B  illustrate a top and a side view, respectively, of the debris collection apparatus of  FIGS.  21 A and  21 B  with the robotic arm in a second position. 
         FIGS.  23 A and  23 B  illustrate a top and a side view, respectively, of a tip support assembly in accordance with aspects of the present disclosure. 
         FIGS.  24 A and  24 B  illustrate a bottom and a side view, respectively, of a metrology system usable with a tetrahedral tip in accordance with aspects of the present disclosure. 
         FIGS.  25 A and  25 B  illustrate a bottom and a side view, respectively, of the metrology system of  FIGS.  24 A and  24 B  with debris attached to the tetrahedral tip. 
         FIGS.  26 A and  26 B  illustrate a bottom and a side view, respectively, of a metrology system usable with a circular conical tip in accordance with aspects of the present disclosure. 
         FIGS.  27 A and  27 B  illustrate a bottom and a side view, respectively, of the metrology system of  FIGS.  26 A and  26 B  with debris attached to the circular conical tip. 
         FIGS.  28 A and  28 B  illustrate a bottom and a side view, respectively, of a metrology system usable with a pyramidal tip in accordance with aspects of the present disclosure. 
         FIGS.  29 A and  29 B  illustrate a bottom and a side view, respectively, of the metrology system of  FIGS.  28 A and  28 B  with debris attached to the pyramidal tip. 
         FIGS.  30 A and  30 B  illustrate a side cross-sectional view and a top view, respectively, of a contaminate collector with a collection pocket having a triangular layout in accordance with aspects of the present disclosure. 
         FIGS.  31 A and  31 B  illustrate a side cross-sectional view and a top view, respectively, of a contaminate collector with a collection pocket having a circular layout in accordance with aspects of the present disclosure. 
         FIGS.  32 A and  32 B  illustrate a side cross-sectional view and a top view, respectively, of a contaminate collector with a collection pocket having a square layout in accordance with aspects of the present disclosure. 
         FIGS.  33 A to  33 C  illustrate an exemplary debris collection process using a contaminate collector with a collection pocket in accordance with aspects of the present disclosure. 
         FIGS.  34 A to  34 C  illustrate another exemplary debris collection process using a contaminate collector with a collection pocket in accordance with aspects of the present disclosure. 
         FIGS.  35 A and  35 B  illustrate a side cross-sectional view and a top view, respectively, of a contaminate collector with a collection through-hole defining a truncated tetrahedron passage in accordance with aspects of the present disclosure. 
         FIGS.  36 A and  36 B  illustrate a side cross-sectional view and a top view, respectively, of a contaminate collector with a collection through-hole defining a truncated conical passage in accordance with aspects of the present disclosure. 
         FIGS.  37 A and  37 B  illustrate a side cross-sectional view and a top view, respectively, of a contaminate collector with a collection through-hole defining a truncated pyramidal passage in accordance with aspects of the present disclosure. 
         FIG.  38    illustrates a side cross-sectional view of a contaminate collector with a collection through-hole and a metrology system in accordance with aspects of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     The inventive aspects will now be described with reference to the drawing figures, in which like reference numerals refer to like parts throughout. 
     With reference to  FIGS.  1 A,  1 B,  1 C,  2 ,  3 ,  4 , and  5   , an exemplary device for removing particles from a substrate and transferring it to a patch will now be described.  FIGS.  1 A to  1 C  illustrate cross-sectional views of a portion of a debris removal device  1  during a sequence of surface interactions in accordance with aspects of the present disclosure. A potential sequence of surface interactions that could selectively adhere a particle  2  from a substrate  3  and then relocate it to a soft patch  4  is shown in figures (moving from left to right). In  FIG.  1 A , a particle  2  contaminates a (relatively) high surface energy substrate  3  which decreases its surface energy and increases the entropy in the whole system. Next in  FIG.  1 B , a tip  5  with a diffusively mobile low surface energy coating is then driven to coat the (once again relatively) higher surface energy substrate  3  and particle  2 , debonding them. Subsequently, the depletion of the low surface energy material may have slightly increased the surface energy of the tip  5  (closer to its normal, uncoated value) so that there is an energy gradient to adhere the now de-bonded particle  2  to a surface of the tip  6  (additionally, materials such a fluorocarbons typically have good cohesion). These interactions should also increase the entropy of the system especially if the tip surface  6  is cleaner than the substrate. Finally, in  FIG.  1 C , the particle  2  is mechanically lodged into the soft patch material  4  and this mechanical action also recoats the tip surface  6  with the low surface energy material which should both decrease the energy and increase the entropy of the system. 
       FIG.  2    illustrates a cross-sectional view of a portion of a debris removal device  10  according to an embodiment of the present disclosure. The device  10  includes a nanometer-scaled tip  12  positioned adjacent to a patch or reservoir  14  of low surface energy material. The low surface energy material in the reservoir may be solid, liquid, semi-liquid or semi-solid. 
     Formed on the tip  12  is a coating  16 . Before forming the coating  16 , tip  12  may be pre-coated or otherwise surface treated to modify the surface energy of the tip  12  (e.g., to modify the capillary, wetting, and/or surface tension effects). When properly selected, the coating  16  allows the tip  12  to remain sharper for a longer period of time than an uncoated tip. For example, a PTFE-coated diamond tip can have a longer operating life than an uncoated diamond tip. 
     According to certain aspects of the present disclosure, the coating  16  may include the same low surface energy material found in the patch or reservoir of low energy material  14 . Also, according to certain aspects of the present disclosure, the tip  12  may be in direct contact with the patch or reservoir of low energy material  14  and the coating  16  may be formed (or replenished) on the surface of tip  12  by rubbing or contacting the tip  12  against the patch or reservoir of low energy material  14 . Furthermore, rubbing the tip  12  against the patch or reservoir of low energy material and/or scratching the pad  14  may enhance surface diffusion of the low surface energy material over the surface of tip  12 . 
     According to certain aspects of the present disclosure, the coating  16  and the patch or reservoir of low energy material  14  may both be made from, or at least may include, chlorinated and fluorinated carbon-containing molecules such as Polytetrafluoroethylene (PTFE) or other similar materials such as Fluorinated ethylene propylene (FEP). According to other aspects of the present disclosure, an intermediate layer  15  of metallic material, oxide, metal oxide, or some other high surface energy material may be disposed between the surface of tip  12  and the low-surface energy material coating  16 . Some representative examples of the intermediate layer may include, but is not limited to, cesium (Cs), iridium (Ir), and their oxides (as well as chlorides, fluorides, etc.). These two exemplary elemental metals are relatively soft metals with low and high surface energies respectively, and thus they represent the optimization of a surface energy gradient optimal for a given contaminate, substrate, and surrounding environment. Additionally or alternatively, the surface of tip  12  may be roughened or doped. The high surface energy material or tip treatment typically acts to bind the low-surface energy material coating  16  to the tip  12  more strongly. Since the shape of the tip also influences localized surface energy density variations (i.e., nanoscale sharpness will greatly increase surface energy density right at the apex), the shape of the tip  12  may also be modified to provide increased selective adhesion of particles to the tip. Roughening a tip surface  13  of the tip  12  may also provide greater adhesion due to the increase in surface area of contact with the particle and the number of potential binding sites (dA). The tip surface  13  may also be treated (possibly by chemical or plasma processes) so that the tip surface  13  contains highly unstable and chemically active dangling bonds that can react with a particle or some intermediary coating to increase adhesion. The tip surface  13  may also be coated with a high surface area material like high density carbon (HDC) or diamond like carbon (DLC) to increase the surface area of the tip  12  interacting with a particle. 
     A high-surface energy pre-treatment is used without a low-surface energy coating  16  according to certain aspects of the present disclosure. In such aspects, the particles  20  discussed below may be embedded in some other soft targets (e.g., Au, Al) using similar methods to those discussed herein, or the tip  12  may be a consumable. Also, other physical and/or environmental parameters may be modified (e.g., temperature, pressure, chemistry, humidity) to enhance tip treatment and/or particle pick-up/drop-off as will be appreciated by one skilled in the art in view of the present disclosure. 
     According to certain aspects of the present disclosure, all of the components illustrated in  FIGS.  2  and  3    are included in an AFM. In some such configurations, the patch or reservoir of low energy material  14  is substantially flat and is attached to a stage that supports the substrate  18 . Also, according to certain aspects of the present disclosure, the patch or reservoir of low energy material  14  is removable from the stage and may easily be replaced or easily refillable. For example, the patch or reservoir of low energy material  14  may be affixed to the AFM with an easily releasable clamp or magnetic mount (not illustrated). 
       FIG.  3    illustrates a cross-sectional view of another portion of the debris removal device  10  illustrated in  FIG.  2   . Illustrated in  FIG.  3    is a substrate  18  that may typically be positioned adjacent to the patch or reservoir of low energy material  14  illustrated in  FIG.  2   . Also illustrated in  FIG.  3    is a plurality of particles  20  that may present in a trench  22  that is formed on the surface of the substrate  18 . The particles  20  are typically attached to the surfaces of the trench  22  via Van der Waals short-range forces. In  FIG.  3   , the tip  12  may be moved and positioned adjacent to the substrate  18  to physically attach the particles  20  to the tip  12 . In order to reach the bottom of the trench  22 , the tip  12  as illustrated in  FIGS.  2  and  3    may be a high aspect ratio tip. Although a trench  22  is illustrated in  FIG.  3   , the particles  20  may be attached to or found on other structures to be cleaned. 
       FIG.  4    illustrates a cross-sectional view of the portion of the debris removal device  10  illustrated in  FIG.  2   , wherein the particles  20  may be transferred from the tip  12  and may be imbedded in the patch or reservoir of low energy material  14  by extending the tip  12  into or against a surface of the patch or reservoir of low energy material  14 . Subsequently, as shown in the cross-sectional view of  FIG.  5   , the tip  12  may be retracted such that the tip  12  is no longer in contact with the patch or reservoir of low energy material  14 . As the tip  12  is retracted or withdrawn from the patch or reservoir of low energy material  14 , the particles  20  previously on the tip  12  remain with the patch or reservoir of low energy material  14 . 
     According to certain aspects of the present disclosure, the device  10  illustrated in  FIGS.  2 - 5    may be utilized to implement a method of debris removal. It should be noted that certain aspects of the present disclosure may be used in conjunction with other particle cleaning processes, either prior or pursuant to the method discussed herein. Further it should be noted that the terms particle, debris, or contaminate may be used interchangeable to describe anything foreign to the substrate surface. It should also be noted that, although only one tip  12  is discussed and shown in the figures, a plurality of tips may be used simultaneously to remove particles from multiple structures at the same time. Additionally, a plurality of tips could be used in the methods discussed herein in parallel and at the same time. 
     The debris method mentioned above may include positioning the tip  12  adjacent to one or more of the particles  20  (i.e., the pieces of debris) illustrated as being on the substrate  18  in  FIG.  3   . The method may further include physically adhering (as opposed to electrostatically adhering) the particles  20  to the tip  12  as also illustrated in  FIG.  3    as well as some possible repetitive motion of the tip  12  when in contact with the particle(s)  20  and surrounding surfaces. Following the physical adherence of the particles  20  to the tip  12 , the method may include removing the particles  20  from the substrate  18  by moving and/or withdrawing the tip  12  away from the substrate  18 , and moving the tip  12  with the particles  20  to the patch or reservoir of low energy material  14 , as illustrated in  FIG.  4   . 
     According to certain aspects of the present disclosure, the method may include forming the coating  16  on at least a portion of the tip  12 . In certain aspects of the present disclosure, the coating  16  may comprise a coating material that has a lower surface energy than a surface energy of the substrate  18 . Additionally or alternatively, the coating  16  may comprise a coating material that has higher surface area than the surface area of the particle  20  that is in contact with the substrate  18 . 
     In addition to the above, some aspects of the method may further include moving the tip  12  to at least a second location of the substrate  18  such that the tip  12  is adjacent to other pieces of particles or debris (not illustrated) such that the other pieces of particles or debris are physically attached to the tip  12 . The other pieces of particles debris may then be removed from the substrate  18  by moving the tip  12  away from the substrate  18  in a manner analogous to what is shown in  FIG.  4   . 
     Once debris (e.g., the particles  20  discussed above) have been removed from the substrate  18 , some methods according to the present disclosure may include a step of depositing the piece of debris in a piece of material positioned away from the substrate (e.g., the above-discussed patch or reservoir of low energy material  14 ). 
     Because the tip  12  may be used repeatedly to remove large amounts of debris, according to certain aspects of the present disclosure, the method may include replenishing the coating  16  by plunging the tip  12  in the patch or reservoir of low energy material  14 . Low surface energy material from the patch or reservoir of low energy material may coat any holes or gaps that may have developed in the coating  16  of the tip  12  over time. This replenishing may involve one or more of moving the tip  12  laterally within the patch or reservoir of low energy material  14  after plunging the tip  12  into the patch or reservoir of low energy material  14 , rubbing a surface of the tip  12 , or altering a physical parameter (e.g., temperature) of the tip  12  and/or the patch or reservoir of low energy material  14 . 
     It should be noted that certain methods according to the present disclosure may include exposing a small area around a defect or particle to a low surface energy material before a repair in order to reduce the likelihood that the removed material will lump together and strongly adhere again to the substrate after the repair is completed. For example, a defect/particle and an approximately 1-2 micron area around the defect may be pre-coated with PTFE or FEP according to certain aspects of the present disclosure. In such instances, a tip  12  coated or constructed from a low surface energy material (e.g., a PTFE or FEP tip) can be used to apply a very generous amount of the low surface energy material to a repair area even when other repair tools (laser, e-beam) are being utilized. In addition to the coating  16  on the tip  12 , a portion or an entirety of the tip  12  may comprise a low energy material such as, but not limited to, chlorinated and fluorinated carbon-containing molecules. Examples of such materials may include PTFE or FEP. Additionally or alternatively, other materials such as metals and their compounds may be used. Some representative examples include Cs, Ir, and their oxides (as well as chlorides, fluorides, etc.). These two exemplary elemental metals are relatively soft metals with low and high surface energies respectively, and thus they represent the optimization of a surface energy gradient optimal for a given contaminate, substrate, and surrounding environment. Additionally or alternatively, other carbon based compounds may be used. Some representative examples include HDC or DLC. 
     According to certain aspects of the present disclosure, the method includes using the patch or reservoir of low energy material  14  to push the particles away from an apex of the tip  12  and toward an AFM cantilever arm (not illustrated) that is supporting the tip  12 , above the apex. Such pushing up of the particles  20  may free up space near the apex of the tip  12  physically adhere more particles  20 . 
     According to certain aspects of the present disclosure, the tip  12  is used to remove nanomachining debris from high aspect ratio structures such as, for example, the trench  22  of the substrate  18 , by alternately, dipping, inserting, and/or indenting the tip  12  into a pallet of soft material which may be found in the patch or reservoir of low energy material  14 . In select aspects, the soft material of the patch or reservoir of low energy material  14  may have a doughy or malleable consistency. This soft material may generally have a greater adherence to the tip  12  and/or debris material (e.g., in the particles  20 ) than to itself. The soft material may also be selected to have polar properties to electrostatically attract the nanomachining debris particles  20  to the tip  12 . For example, the patch or reservoir of low energy material  14  may comprise a mobile surfactant. 
     In addition to the above, according to certain aspects of the present disclosure, the tip  12  may include one or more dielectric surfaces (i.e., electrically insulated surfaces). These surfaces may be rubbed on a similarly dielectric surface in certain environmental conditions (e.g., low humidity) to facilitate particle pick-up due to electrostatic surface charging. Also, according to certain aspects of the present disclosure, the coating  16  may attract particles by some other short-range mechanism, which may include, but is not limited to, hydrogen bonding, chemical reaction, enhanced surface diffusion. 
     With reference to  FIGS.  6 - 11   , exemplary aspects of the debris removal tip will now be described. Any tip that is strong and stiff enough to penetrate (i.e., indent) the soft pallet material of the patch or reservoir of low energy material  14  may be used. Hence, very high aspect tip geometries (greater than 1:1) are within the scope of the present disclosure. Once the tip is stiff enough to penetrate the soft (possibly adhesive) material, high aspect ratio tips that are strong and flexible are generally selected over tips that are weaker and/or less flexible. Hence, according to certain aspects of the present disclosure, the tip can be rubbed into the sides and corners of the repair trench  22  of the substrate  18  without damaging or altering the trench  22  or the substrate  18 . A rough macro-scale analogy of this operation is a stiff bristle being moved inside a deep inner diameter. It should also be noted that, according to certain aspects of the present disclosure, the tip  12  may comprise a plurality of rigid or stiff nanofibrils bristles, as will be described in greater detail below. In one aspect as shown in  FIG.  6   , each bristle of the plurality of rigid or stiff nanofibrils bristles  30  may extended linearly from the tip  12 . In one aspect, the plurality of rigid or stiff nanofibrils bristles  30  may be formed with carbon nanotubes, metal whiskers, etc. The tip  12  may additionally or alternatively comprise a plurality of flexible or wrap nanofibrils, as will be described in greater detail below. The plurality of flexible or wrap nanofibrils may be formed on the tip  12  using polymer materials, for example. Other materials and structures are of course contemplated. 
     According to certain aspects of the present disclosure, the detection of whether or not one or more particles have been picked up may be performed by employing a noncontact AFM scan of the region of interest (ROI) to detect particles. The tip  12  may then be retracted from the substrate  18  without rescanning until after treatment at the target. However, overall mass of debris material picked up by the tip  12  may also be monitored by relative shifts in the tip&#39;s resonant frequency. In addition, other dynamics may be used for the same function. 
     Instead of indenting in a soft material to remove particles  20  as discussed above and as illustrated in  FIG.  5   , the tip  12  may also be vectored into the patch or reservoir of low energy material  14  to remove the particles  20 . As such, if the tip inadvertently picks up a particle  20 , the particle  20  can be removed by doing another repair. Particularly when a different material is used for depositing the particles  20  by vectoring, then a soft metal such as a gold foil may be used. 
     In addition to the above, an ultra-violet (UV)-light-curable material, or similarly some other material susceptible to a chemically nonreversible reaction, may be used to coat the tip  12  and to form the coating  16 . Before the UV cure, the material picks up particles  20  from the substrate  18 . Once the tip  12  is removed from the substrate  18 , the tip  12  may be exposed to a UV source where the material&#39;s properties would be changed to make the particles  20  less adherent to the tip  12  and more adherent to the material in the patch or reservoir of low energy material  14 , where the particles  20  may subsequently be removed from the tip  12  and deposited with the patch or reservoir of low energy material  14 . Other nonreversible process which further enhances, or enables, the selectivity of particle pick up and removal are of course contemplated. 
     Certain aspects of the present disclosure provide a variety of advantages. For example, certain aspects of the present disclosure allow for active removal of debris from high aspect trench structures using very high aspect AFM tip geometries (greater than 1:1). Also, certain aspects of the present disclosure may be implemented relatively easily by attaching a low surface energy or soft material pallet to an AFM, along with using a very high aspect tip and making relatively minor adjustments to the software repair sequences currently used by AFM operators. In addition, according to certain aspects of the present disclosure, a novel nanomachining tool may be implemented that could be used (like nano-tweezers) to selectively remove particles from the surface of a mask which could not be cleaned by any other method. This may be combined with a more traditional repair where the debris would first be dislodged from the surface with an uncoated tip, then picked up with a coated tip. 
     Generally, it should be noted that, although a low surface energy material is used in the local clean methods discussed above, other possible variations are also within the scope of the present disclosure. Typically, these variations create a surface energy gradient (i.e., a Gibbs free energy gradient) that attracts the particle  20  to the tip  12  and may be subsequently reversed by some other treatment to release the particles  20  from the tip  12 . 
     One aspect of the present disclosure involves the attachment of at least one nanofibril to the working end of an AFM tip to provide enhanced capability in high aspect structures while also allowing for less mechanically aggressive process to the underlying substrate. These fibrils can be, according to their mechanical properties and application towards nanoparticle cleaning, classified under two different labels, “stiff” fibrils, and “wrap” fibrils. To understand the differences,  FIGS.  7 A and  7 B  illustrate differences between these 2 types of fibrils, the stiff fibril  700  attached to a tip  710  and the wrap fibril  750  attached to a tip  760 . Additionally, we must first understand the two critical processes required in BitClean particle cleaning: Dislodgement of the Nanoparticle, Bonding and Extraction of the Nanoparticle from the Contaminated Surface. With these most critical steps defined, the functional differences between the two different fibrils are given as follows. 
     With reference to  FIG.  7 A , the stiff fibril  700  relies more on the mechanical action, and mechanical strength, of the fibril itself to dislodge the nanoparticle. Thus, it also relies on the shear and bending strength and moduli of elasticity to accomplish the dislodgement successfully without breaking. This means there are very few materials which could exceed, or even meet, the strength and stiffness (typically referred to as its hardness) of single crystal diamond. Among these are carbon nanotubes and graphene, since both use the carbon-carbon sp3 hybrid orbital interatomic bonds (one of the strongest known) that are also found in diamond. Other contemplated materials include certain phases of boron-containing chemistries which possess properties that could possibly exceed the mechanical strength and stiffness of diamond so these materials could also be used. In general, many materials (including diamond) can become intrinsically stronger and stiffer as their dimensionality is reduced (with stiffness decreasing as the structure approaches atomic scales and its shape is determined by thermal diffusive behaviors). This is a material phenomenon that was first observed in nanocrystalline metals but has also been confirmed in molecular simulation and some experiment to also occur with single crystal nanopillars. One leading hypothesis for this behavior leads into the defect diffusion mechanism of plastic deformation. At larger scales, these crystal defects (vacancies, dislocations, etc.) diffuse and interact in bulk-dominated kinetics. It is believed that at smaller scales (all things being equal such as material and temperature), these defect movements become dominated by surface-diffusion kinetics which are much higher than in the bulk of the crystal. When considered within a material-continuum approximation, this greater surface diffusion rate translates into plastic deformation (also referred to as yield), and even failure, of materials at lower stress levels. For example, with Ti single-crystal nanopillars, the yield stress has been shown to increase with decreasing cross-section width up to a range around 8 to 14 nm (depending, in part, to the direction of the stress and the crystallographic orientation of the nanopillar), below this range, the behavior undergoes an inflection point where the yield stress actually decreases with decreasing cross-section width. 
       FIGS.  8 A to  8 C  illustrate an exemplary process of dislodging and removing a nanoparticle from a target substrate using a single stiff fibril  800  attached at or near the apex of an AFM tip  810 . The tip  810  approaches the surface and scans using the same principles as an AFM scan without the stiff fibril. It will be appreciated by one skilled in the art that different operational parameters may be applied in view of the single stiff fibril  800  attached to the apex of the tip  810 . Once the particle is located, the tip  810  is moved towards a surface  830  and the stiff fibril  800  is elastically deformed, as generally shown in  FIG.  8 B . In one aspect, the deformation of the stiff fibril  800  may be compressive, shear, bending, tensile or a combination thereof and can also be used to mechanically dislodge the nanoparticle  820  from the surface  830 . Once the nanoparticle  820  is dislodged, the surface energy and area differences between the stiff fibril  800 , substrate  840  and nanoparticle  820  surfaces govern whether the nanoparticle  820  adheres to the stiff fibril  800  when it is subsequently extracted from the substrate surface  830 . 
     An exception to this, unique to the stiff fibril nanoparticle clean process, is when two or more stiff fibrils are strongly attached to the tip surface at a distance less than the nanoparticle diameter (but not less than the elastic deformation limit for the stiff fibrils as determined by their shear and bending moduli and length to width ratio), as illustrated in  FIGS.  9 A to  9 C . In accordance with aspects where two or more stiff fibrils  900   a ,  900   b  are attached to the tip  910  at a distance less than the nanoparticle diameter, the sequence is very similar to the single stiff fibril as discussed above with reference to  FIGS.  8 A to  8 C . The differences starting in the observation that there are more strained or deformed stiff fibrils  900   a ,  900   b  around the nanoparticle  920  thus increasing the probability that one or more stiff fibrils  900   a ,  900   b  will impact the nanoparticle  920  in just the way (force and angle of applied force) needed to dislodge a nanoparticle  920  for a given cleaning scenario, as generally shown in  FIG.  9 B . Following the dislodgement step, the multi-fibril tip  910  may have more potential surface area for the particle  920  to adhere (i.e., wet) to. As the tip  910  is retracted from the substrate, as generally shown in  FIG.  9 C , another difference emerges if the length and spacing of the fibrils are within the correct range. The nanoparticle  920  with this setup has the possibility of becoming mechanically trapped within the spaces between the stiff nanofibrils  900   a ,  900   b , which may result in greater adhesion to the multi-fibril  900   a ,  900   b  and a greater probably of extracting the nanoparticle  920  from the substrate surface  930 . Similarly, if it is desired to deposit the nanoparticle  920  on another surface, the tip  910  may be re-approached to a surface and the stiff fibrils  900   a ,  900   b  again stressed to relax their mechanical entrapment of the nanoparticle  920  thus increasing the probability the nanoparticle  920  will be deposited at the desired surface location. As previously stated, this assumes that the length and spacing of the fibrils  900   a ,  900   b  are within the correct range, on the first order model, these ranges include a fibril spacing less than the minimum width of the nanoparticle  920  (assuming a strong nanoparticle that will not crumble), but large enough that the fibrils  900   a ,  900   b  will not be bent beyond their shear and bending strength limit (also determined by the relative length of the fibrils and assuming the adhesion strength of the fibril attachment is not less than this limit), as will be appreciated by those skilled in the art in view of the present disclosure. In select aspects, the two or more stiff fibrils may have different and unequal lengths. 
     To define what a stiff fibril is (as opposed to a wrap fibril), one must be able to define the anisotropic spring constants (related to the effective shear and bending moduli) for a specific material and nano-structure. Since this is very difficult to do in practice, it is assumed for our purposes here that these properties are roughly proportional to the tensile (a.k.a. Young&#39;s) elastic modulus and strength. The tensile modulus is a possible measure of the stiffness of a material within the stress range where it exhibits elastic (i.e., spring-like) mechanical properties. It is given as the stress divided by the strain, thus yielding units the same as stress (since stain is defined as deformation ratio of final versus initial dimension). Although it does not specifically define stiffness, tensile strength is also important since the fibril must be able to apply sufficient force to dislodge a nanoparticle without breaking-off itself and creating an additional contamination to the substrate surface. Strength is also given in units of stress (Pascals). For diamond, the intrinsic tensile modulus is on the order of 1.22 terra-Pascals (TPa) with a tensile strength ranging from 8.7 to 16.5 giga-Pascals (GPa) and provides here our general reference measure for stiffness and strength (approaching within the value for tungsten of 0.5 TPa for tensile elastic modulus, or exceeding these values). Since carbon nanotubes are, by their very nature, not intrinsic entities their tensile moduli are specific to the individual molecule and its properties (e.g., Single-walled or Multi-Walled, respectively SWNT or MWNT, chirality, etc.). For SWNT&#39;s, their tensile elastic modulus can range from 1 to 5 TPa with its tensile strength ranging from 13 to 53 GPa. For comparison with another class of materials in this range, B x N y  (boron nitride compounds of various stoichiometry) has a tensile elastic modulus which ranges from 0.4 to 0.9 TPa. For the purpose of distinguishing and defining the boundary between a wrap fibril from a stiff fibril, the standard mechanical material property most relevant and applicable is the yield stress. A stiff fibril is defined here as any material with a yield stress greater than or equal to 0.5 GPa (1 GPa=1×10 9  N/m 2 ). Thus, by elimination, any material with a yield stress less than 0.5 GPa would be considered a wrap fibril. It should be noted that, especially at nanoscales, many materials can exhibit anisotropic mechanical properties so it is important that the yield stress is specified for shear stresses (or equivalent bending stresses) transverse to the fibril&#39;s major (i.e., longest) dimension. 
     A wrap fibril, in contrast to a stiff fibril, will have much lower spring constants (specified here as elastic tensile moduli) with sufficiently high (comparable) tensile strength. In the case of the wrap fibrils, due to the differences in how it is applied, the tensile strength is directly related to its performance since a tensile force is applied to both dislodge and extract the nanoparticle from the substrate surface. However, it should be noted, that most mechanical properties quoted in the literature are for the bulk material which should, in principle, be almost completely unrelated to the tensile properties for mono-molecular fibrils (or nano-scale fibrils approaching mono-molecular scales). For example, PTFE, is typically quoted to have very low tensile elastic modulus and strength in the bulk material (0.5 GPa and maybe &lt;&lt;20 MPa respectively), but since the molecule&#39;s backbone is comprised of carbon-carbon sp-hybrid orbital chemical bonds, its mono-molecular tensile strength should be more comparable to diamond than many other materials, C-nanotubes, and graphene (all of which contain the same kind of chemical bonds). Since the bulk material mechanical properties is more related to the action of single-molecule strands interacting with their neighbors, it should be more comparable to both the cohesive and mono-molecular bending and shear moduli. Since these types of materials (polymers) exemplify the mechanical properties associated with plastic deformation, their molecules are expected to deform according to more diffusive-thermal behaviors which exhibit high flexibility. If the macroscopic allegory for the stiff fibril is a sliver of glass, the comparable allegory for the wrap fibril would be thin carbon fibers (the latter can appear highly flexible at macro scales with high tensile strength). 
       FIGS.  10 A to  10 C  show a nanoparticle cleaning sequence using a wrap (flexible) nanofibril  1000  attached to an AFM tip  1010  near or at the apex, in accordance with an aspect of the present disclosure. Since there is no compression stress required to deform the wrap-type fibril  1000 , the tip  1010  is brought into close proximity to the surface  1030  in order to bring the fibril  1000  into close enough proximity to the nanoparticle surface for short range surface energy forces to allow for the fibril  1000  to adhere to it. Since the relative surface energies of the fibril  1000 , nanoparticle  1020 , and substrate surfaces  1030  are targeted so that the fibril would preferentially adhere to the nanoparticle surface, once the fibril  1000  is brought into contact with enough slack given the fibril length, only time and applied agitation energies (possibly mechanical and/or thermal) are required to allow the fibril  1000  to wrap around the particle  1020 . It is possible that mechanical energies (whether by the tip  1010  with the fibrils  1000  attached, or another tip in a prior processing pass) from a more rigid tip could be applied to initially dislodge the particle  1120 . Once the fibril  1000  is sufficiently wrapped-around the nanoparticle  1020 , as generally shown in  FIG.  10 B , the tip  1010  is then extracted from the substrate surface  1030 . During this phase, if the adhesion of the fibrils  1000  to the nanoparticle  1020  (enhanced the more it is wrapped and entangled around the nanoparticle), the tensile strength of the fibril  1000 , and its adhesion to the AFM tip  1010  are all greater than the adhesion of the nanoparticle  1020  to the substrate  1040 , then the nanoparticle  1020  will be extracted from the substrate  1040  with the tip  1010 , as generally shown in  FIG.  10 C . 
     Some examples of possible materials that may be used to make wrap nano (or molecular) scale fibrils include: RNA/DNA, Actin, amyloid nanostructures, and Ionomers. RNA (ribonucleic acid) and DNA (deoxyribonucleic acid) are described together since they represent similar chemistries, preparation, and handling processes. Recently, significant progress has been made with the technology known colloquially as, “DNA-Origami”, which allows for the precise chemical engineering of how DNA molecules link together. It is believed that similar processes, applied to these or similar chemistries, could allow for long polymer chain molecules to detach and link-together on queue. Given the most common process, specific DNA sequences would be chemically produced, or obtained commercially from well-known single-stranded viral DNA sequences, and a properly chemically-functionalized (such as is done in Chemical Force Microscopy practices) AFM tip  1110  is immersed in the aqueous solution, or placed in AFM-contact to a surface, containing the DNA sequences so that the latter bind as designed. The tip  1110  may then be functionalized for particle removal from a substrate surface  1130 , as shown in  FIGS.  11 A to  11 D . Moving from left to right in the figures, the functionalized tip  1110  may be moved or actuated to approach near (closer than the length of the DNA strands  1100 ) the particle  1120  and substrate surfaces  1130 , as shown in  FIG.  11 A . A higher temperature may be applied (possibly ˜90° C.) with an activating chemistry (either helper DNA strands, also available commercially, or some other ionic activator such as a magnesium salt) while the tip  1110  is near the dislodged particle  1120  as shown in  FIG.  11 B . The environment may then cooled (possibly to ˜20° C.) allowing the targeted sequences in the strands  1100  to link up as shown in  FIG.  11 C  (the linking strands  1100  are at the opposite free ends of the molecules). Once the DNA coating  1100  has solidified to the point where the nanoparticle  1120  is securely attached, the tip  1110  may then be extracted from the substrate surface  1130  as shown in  FIG.  11 D . At these small scales, it is possible to describe this bonding between the nanoparticle and the tip to be mechanical, however if the particle is on the molecular scale, it could also be described as a steric bond. Steric effects may be created by atomic repulsion at close enough proximity. If an atom or molecule is surrounded by atoms in all possible diffusion directions, it will be effectively trapped and unable to chemically of physically interact with any other atoms or molecules in its environment. RNA can similarly be manipulated as will be appreciated by those skilled in the art in view of the present disclosure 
     The next possible wrap nano-fibril candidate is a family of similar globular multi-function proteins that forms filaments in eukaryotic cells, one of which is known as actin. Actin is used inside cells for scaffolding, anchoring, mechanical supports, and binding, which would indicate it is a highly adaptable and sufficiently strong protein filament. It would be applied and used in methods very similar to the DNA-origami related process discussed above. Experiments indicate that this protein can be crystalized to a molecule of dimensions of 6.7×4.0×3.7 nm. 
     Research into the mechanisms in which certain marine organisms (barnacles, algae, marine flatworms, etc.) can strongly bond to a large range of substrate materials biomimetically (or directly) provides another wrap fibril candidate. These marine organisms secrete a substance, commonly referred to by the acronym DOPA (3, 4-dihydroxyphenylalanine), which bonds to these substrate surfaces with functional amyloid nanostructures. The adhesive properties of amyloid molecules are due to β-strands that are oriented perpendicular to the fibril axis and connected through a dense hydrogen-bonding network. This network results in supramolecular β-sheets that often extend continuously over thousands of molecular units. Fibrillar nanostructures like this have several advantages including: underwater adhesion, tolerance to environmental deterioration, self-healing from self-polymerization, and large fibril surface areas. As previously discussed, large fibril surface areas enhance adhesion by increasing the contact area in the adhesive plaques of barnacles. Amyloid nanostructures also have possible mechanical advantages such as cohesive strength associated with the generic amyloid intermolecular β-sheet structure and adhesive strength related to adhesive residues external to the amyloid core. These properties make amyloid structures a basis for a promising new generation of bio-inspired adhesives for a wide range of applications. Advances in the use of molecular self-assembly have allowed for the creation of synthetic amyloid and amyloid-analogue adhesives for nanotechnological applications although a fully rational design has not yet been demonstrated experimentally, in part, due to limits in understanding of the underlying biological design principles. 
     The final example of a wrap fibril material is a class of polymers known as ionomers. In brief, these are long thermoplastic polymer molecules that strongly bind at targeted ionic charged sites along the molecular chain. A common example of an ionomer chemistry is poly(ethylene-co-methacrylic acid). According to one aspect of the present disclosure, the ionomer may be functionalized to the surface of a scanning thermal probe. The process for cleaning a nanoparticle would then be very similar to that shown for the DNA-origami process discussed above except that an aqueous environment would not necessarily be required especially when used with the scanning thermal probe. An ionomer functionalization coating may also be paired with an ionic surfactant for preferential conjugate bonding within an aqueous (or similar solvent) environment. It should be mentioned that these examples (especially DNA/RNA and actin) are highly biocompatible for removal and manipulation of nano-particulate entities inside living structures such as cells. 
     For example, one variation that may be used includes using a high surface energy tip coating. Another variation includes pretreating the particles with a low surface energy material to debond the particles and then contacting the particles with a high surface energy tip coating (sometimes on a different tip). Still another variation includes making use of a chemical energy gradient that corresponds to a chemical reaction occurring between a tip surface coating and the particle surface to bond the two. This may either be performed until a tip is exhausted or reversed with some other treatment. 
     According to still other aspects of the present disclosure, adhesives or sticky coatings are used in combination with one or more of the above-listed factors. Also, the surface roughness or small scale (e.g., nanometer-scale) texture can be engineered to maximize particle clean process efficiency. 
     In addition to the above, mechanical bonding may be used, typically when the tip  12  includes fibrils that, analogously to a mop, are capable of mechanically entangling the particles  20 . The mechanical entanglement, according to certain aspects of the present disclosure, is driven by and/or enhanced by surface energy or chemical changes with contact or environment. 
     According to still other aspects of the present disclosure, the tip  12  may be coated with molecular tweezers (i.e., molecular clips). These tweezers may comprise noncyclic compounds with open cavities capable of binding guests (e.g., the above-discussed particles  20 ). The open cavity of the tweezers typically binds guests using non-covalent bonding including hydrogen bonding, metal coordination, hydrophobic forces, van der Waals forces, π-π interactions, and/or electrostatic effects. These tweezers are sometimes analogous to macrocyclic molecular receptors except that the two arms that bind the guest molecules are typically only connected at one end. 
     In addition to the above, the particles  20  may be removed by the tip using diffusion bonding or Casmir effects. Also, as in the aspects of the present illustrated in  FIG.  6   , bristles or fibrils  30  can be attached to the end of the tip  12 . Whether strategically or randomly placed, these bristles or fibrils  30  can enhance local clean in several ways. For example, an associated increase in surface area may be used for surface (short range) bonding to the particles. 
     According to some of aspects of the present disclosure, fibrils  30  are engineered to be molecules that selectively (e.g., by either surface or environment) coil around and entangle a particle  20 , thus maximizing surface contact. Also, dislodging of the particles  20  occurs according to certain aspects of the present disclosure, typically when stiff bristles  30  are attached to the tip  12 . However, fibrils  30  may also entangle a particle  20  and dislodge the particle  20  mechanically by pulling on the particle  20 . In contrast, relatively rigid bristles  30  typically allow the tip  12  to extend into hard-to-reach crevices. Then, by impact deformation stress of the bristles  30 , by surface-modification of the tip  12  to repel particles  20 , or by some combination, the particle  20  is dislodged. In addition, certain aspects of the present disclosure mechanically bond the particles  20  to the tip  12 . When fibrils are on the tip  12 , entanglement of one or more of either the whole or frayed fibrils may occur. When bristles are on the tip  12 , the particle  20  may be wedged between (elastically) stressed bristles. 
     According to still other aspects of the present disclosure, methods of debris removal include changing the environment to facilitate local clean. For example, gas or liquid media may be introduced or the chemistry and/or physical properties (e.g., pressure, temperature, and humidity) may be changed. 
     In addition to the components discussed above, certain aspects of the present disclosure include an image recognition system that identifies debris to be removed. As such, an automatic debris-removal device is also within the scope of the present disclosure. 
     According to certain aspects of the present disclosure, a relatively soft cleaning tip is used to avoid unwanted damage to inside contours, walls, and/or bottom of a complex shape. When appropriate, a stronger force is used to bring the relatively soft tip into much stronger contact with the surface while also increasing the scan speed. 
     It should also be noted that a tip exposed to and/or coated with a low surface energy material may be used for other purposes besides removing debris (cleaning) of nanometer level structures. For example, such tips can also be used, according to certain aspects of the present disclosure, to periodically lubricate micron level or smaller devices (like MEMS/NEMS) to contain chemical reactions. 
     This method may be performed in a variety of environments according to the requirements of the application and to further enhance differential adhesion of the particle from the substrate surface to the patch or reservoir of low energy material. These environments may include, but are not limited to, vacuum, shield gasses of various composition and pressure, and fluids of variable composition (including fluids with varying ionic strengths and/or pHs). 
     Since there are many other factors influencing the Gibbs free energy gradients between the substrate, tip, debris, and soft patch, these other factors may also be manipulated to create a down-hill gradient to move particles from the substrate to the soft patch. One factor is temperature. It would be possible to use a scanning thermal probe in conjunction with temperature of the substrate and soft patch material to create a desired gradient. The fundamental equation for Gibbs free energy indicates that if the debris is successively contacted by surfaces of greater relative temperature (since the T*S term is negative in the equation) may provide a possible driving force of ΔG&lt;0. From the equation for AG of a deformed rod under high temperature, we can also see another factor is stress applied to the tip would potentially increase debris adhesion. This could be accomplished by external hardware (i.e., biomaterial strips with different coefficients of thermal expansion) or by compression or shear with the substrate below the threshold for nanomachining or tip breakage. The deformation of the tip material may also provide a mechanism of mechanical entrapment of the debris especially if it is roughened (or covered in nano-bristles) and/or if it has a high microstructural defect (i.e., void) density at the surface. The final factor that will be discussed will be chemical potential energy. It is possible to modify the chemical state of the tip and/or soft patch surfaces to create preferential chemical reactions to bond the debris material to the tip. These chemical bonds may be covalent or ionic in nature (with the sp3-hybid orbital covalent bond being the strongest). The debris may be coated with one component of a targeted lock-and-key chemically bonding pair of chemistries. The tip (or another tip) may be coated with the other chemical and brought in contact with the debris surface to bond it to the tip. One non-limiting example of a lock-and-key pair of chemistries is streptavidin and biotin which is often used in Chemical Force Microscopy (CFM) experiments. Another example using an ionic bond would be two surfactant polar molecular chemistries where the exposed polar ends of the molecules on the debris and tip surface are of opposite charge. There are additional related aspects to the surface chemical interaction adhesion mechanisms including depleted solvation and steric-interacting coatings or surfaces. Chemical changes to the tip surface would also allow for targeted changes to its surface energy as well as phase changes (in particular from fluid to solid) that may surround (to maximize surface area dA) and mechanically entrap the debris at the tip surface in order to bond it. These chemical changes (whether to the tip material surface or some intermediary coating) may be catalyzed by external energy sources such as heat (temperature), ultraviolet light, and charged particle beams. 
     Turning to  FIGS.  12 - 38   , exemplary aspects of debris detection and collection systems will now be discussed.  FIG.  12    illustrates a perspective view of a debris collection apparatus  100  for extracting debris  20  from a substrate  18 , according to an aspect of the disclosure. The apparatus  100  includes a substrate support assembly  102  and a tip support assembly  104 , each being supported by or coupled to a base  106 . The base  106  may be a unitary slab, such as a unitary metallic slab, a unitary stone slab, a unitary concrete slab, or any other unitary slab structure known in the art. Alternatively, the base  106  may include a plurality of slabs that are fixed relative to one another. The plurality of slabs may include a metal slab, a stone slab, a concrete slab, combinations thereof, or any other slab assembly known in the art. According to an aspect of the disclosure, the base  106  may be a unitary stone slab, such as a unitary granite slab or a unitary marble slab, for example. 
     The substrate support assembly  102  may include a fixture  108  configured to support the substrate  18 , fix the substrate  18  to the substrate support assembly  102 , or both. The substrate support assembly  102  may further include a substrate stage assembly  110  that is configured to move the fixture  108  relative to the base  106 . The substrate stage assembly  110  may include one or more motion stages, such as linear translation stages, rotational motion stages, combinations thereof, or any other motion stage known in the art. For example, the substrate stage assembly  110  may be configured to move the fixture  108  relative to the base  106  in translation along an x-direction  112 , in translation along a y-direction  114 , in translation along a z-direction  116 , in rotation about the x-direction  112 , in rotation about the y-direction  114 , in rotation about the z-direction  116 , or combinations thereof. The x-direction  112 , the y-direction  114 , and the z-direction  116  may be mutually orthogonal to one another, however, it will be appreciated that x-direction  112 , the y-direction  114 , and the z-direction  116  need not be mutually orthogonal to one another. 
     The one or more motion stages of the substrate stage assembly  110  may include one or more actuators  118  that are configured to effect a desired relative motion between the fixture  108  and the base  106 . For example, the one or more actuators  118  may include a rotational motor coupled to the substrate stage assembly  110  via a threaded rod or a worm gear, a servo motor, a magnetic actuator configured to assert a force on the substrate stage assembly  110  via a magnetic field, a pneumatic or hydraulic piston coupled to the substrate stage assembly  110  via a piston rod, a piezoelectric actuator, or any other motion actuator known in the art. The one or more actuators  118  may be fixed to the base  106 . 
     According to an aspect of the disclosure, the substrate stage assembly  110  may include a first stage  120  and a second stage  122 , where the first stage  120  is configured to move the fixture  108  relative to the second stage  122  via a first actuator  124 , and the second stage is configured to move the first stage  120  relative to the base via a second actuator  126 . The first actuator  124  may be configured to translate the first stage  120  along the x-direction  112 , and the second actuator  126  may be configured to translate the second stage  122  along the y-direction  114 . However, it will be appreciated that the first stage  120  and the second stage  122  may be configured to move relative to the base  106  in translation along or rotation about other axes to suit other applications. 
     The tip support assembly  104  may include a tip  12  coupled to a tip stage assembly  130  via a tip cantilever  132 . The tip  12  may be a Scanning Probe Microscopy (SPM) tip, such as a tip for an AFM or a Scanning Tunneling Microscopy (STM). It will be appreciated that the tip  12  illustrated in  FIG.  12    may embody any of the tip structures or attributes previously discussed herein. Accordingly, the tip stage assembly  130  may be an SPM scanner assembly. The tip stage assembly  130  may be fixed to the base  106 , and configured to move the tip  12  relative to the base  106  in translation along the x-direction  112 , in translation along the y-direction  114 , in translation along the z-direction  116 , in rotation about the x-direction  112 , in rotation about the y-direction  114 , in rotation about the z-direction  116 , or combinations thereof. 
     Similar to the substrate stage assembly  110 , the tip stage assembly  130  may include one or more actuators  134  to effect the desired motion of the tip  12  relative to the base  106 . According to an aspect of the disclosure, the one or more actuators may include a rotary actuator system operatively coupled to the tip  12  in order to rotate the tip  12  about a first axis. According to an aspect of the disclosure, the one or more actuators  134  may include one or more piezoelectric actuators, however, it will be appreciated that other actuator structures may be used for the one or more actuators  134  to meet the needs of a particular application, without departing from the scope of the present disclosure. 
     The substrate stage assembly  110  may be configured to effect motions with greater magnitude and lower precision than motions effected by the tip stage assembly  130 . Thus, the substrate stage assembly  110  may be tailored to effect coarse relative motion between the fixture  108  and the tip  12 , and the tip stage assembly  130  may be tailored to effect finer relative motion between the fixture  108  and the tip  12 . 
     In accordance with one aspect, the apparatus  100  of  FIG.  12    may include a first patch  142  disposed on the substrate support assembly  102 , the base  106 , or both. In accordance with another aspect, as shown in  FIG.  13   , the apparatus  100  may include a first patch  142  and a second patch  144  disposed on the substrate support assembly  102 , the base  106 , or both. The first patch  142 , the second patch  144 , or both, may embody any of the structures, materials, or attributes of the patch  14  previously discussed. According to an aspect of the disclosure, the second patch  144  may embody structures and materials that are similar or identical to that of the first patch  142 , where the second patch  144  is used predominately to receive and hold debris  20  collected from the substrate  18  via the tip  12 , and the first patch is used predominately to treat or prepare the tip  12  for subsequent collection of debris  20  from the substrate  18 . Alternatively, the second patch  144  may embody structures or materials different from the first patch  142 , such that the first patch  142  may be better tailored to treating the tip  12  before collecting debris  20  from the substrate  18 , and the second patch  144  may be better tailored to receive and hold debris  20  collected from the substrate  18  and deposited onto the second patch  144  via the tip  12 . 
     In one aspect, the second patch  144  may be configured as a collection pocket or collection through-hole for collecting debris or contaminate from the tip  12 , as will be described in further detail with reference to  FIGS.  30 - 37   . However, it will be appreciated that either the first patch  142  or the second patch  144  may be used alone to both treat the tip  12  prior to collecting debris  20  from the substrate  18  and to receive and hold debris  20  collected from the substrate  18  using the tip  12 . As shown in  FIG.  13   , the second patch  144  may be disposed or mounted to the first stage  120  opposite of the first patch  142 . However, the second patch  144  may be located adjacent to the first patch  142 , or may be located on any other location of the first stage  120  or on the debris collection apparatus  100  to promote capture of debris when configured as a collection pocket or collection through-hole. 
     In accordance with aspects of the disclosure, as shown in  FIG.  14   , any or all of the actuators  118  for the substrate stage assembly and the actuators  134  for the tip stage assembly from the debris collection apparatus  100  of  FIG.  12  or  13   , respectively, may operatively be coupled to a controller  136  for control thereof. Accordingly, the controller  136  may effect relative motion between the fixture  108  and the base  106 , and the tip  12  and the base  106  through control of the actuators  118 ,  134 , respectively. In turn, the controller  136  may effect relative motion between the tip  12  and the fixture  108  through control of the actuators  118 ,  134 . 
     Further, the controller  136  may effect relative motion between the fixture  108  and the base  106  in response to manual user inputs  138 , procedures or algorithms pre-programmed into a memory  140  of the controller  136 , combinations thereof, or any other control inputs known in the art. It will be appreciated that pre-programmed control algorithms for the controller  136  may include closed-loop algorithms, open-loop algorithms, or both. 
       FIG.  15    illustrates a perspective view of a debris collection and metrology apparatus  200  for extracting debris  10  from a substrate  18  and analyzing properties of the debris  20 , according to an aspect of the disclosure. Similar to the debris collection apparatus  100  of  FIG.  12   , the debris collection and metrology apparatus  200  includes a substrate support assembly  102 , a tip support assembly  104 , and a base  106 . However, the debris collection and metrology apparatus  200  further includes a metrology system  202 . In accordance with aspects of the present disclosure, the metrology system  202  may be a nano-scale metrology system. 
     The metrology system  202  may include an energy source  204  and an energy detector  206 . The energy source  204  may be an x-ray source, a visible light source, an infrared light source, an ultraviolet light source, an electron beam source, a laser source, combinations thereof, or any other electromagnetic energy source known in the art. It will be appreciated that visible light sources may include a visible light laser, infrared light sources may include an infrared laser, and ultraviolet light sources may include an ultraviolet laser. 
     The energy source  204  may be directed towards and trained on the tip  12  such that an incident energy beam  208  generated by the energy source  204  is incident upon the tip  12 . At least a portion of the incident energy beam  208  may be reflected, refracted, or absorbed and re-emitted by the tip  12  or debris  20  disposed on the tip  12 . According to an aspect of the disclosure, the energy source  204  may be an irradiation source configured and arranged to direct an incident irradiation onto the tip  12 , such as an SPM tip, and the energy detector  206  may be an irradiation detector configured and arranged to receive a sample irradiation from the tip  12 , the sample radiation being generated as a result of the incident irradiation being applied and reflected, refracted, or absorbed and re-emitted by the tip  12  or debris  20  disposed on the tip  12 . 
     The energy detector  206  may also be directed towards and trained on the tip  12  such that a sample energy beam  210  is incident upon the energy detector  206 . The sample energy beam  210  may include contributions from the incident energy beam  208  reflected by the tip  12  or debris  20  disposed on the tip  12 , refracted by the tip  12  or debris  20  disposed on the tip  12 , absorbed and re-emitted by the tip  12  or debris  20  disposed on the tip  12 , combinations thereof, or any other energy beam that may result from an interaction between the incident energy beam  208  and either the tip  12  or debris  20  disposed on the tip  12 . Accordingly, the energy detector  206  may be a light detector, such as a photomultiplier tube or a photodiode, for example, an x-ray detector; an electron beam detector; combinations thereof; or any other electromagnetic radiation detector known in the art. 
     According to an aspect of the disclosure, the energy source  204  includes an electron beam source, and the energy detector  206  includes an x-ray detector. According to another aspect of the disclosure, the energy source  204  includes an x-ray source, and the energy detector  206  includes an electron beam detector. According to another aspect of the disclosure, the energy source  204  includes a light source, including but not limited to, visible light and infrared light. 
     The energy detector  206  may be configured to generate an output signal based on an intensity of the sample energy beam  210 , a frequency of the sample energy beam  210 , combinations thereof, or any other electromagnetic radiation property of the sample energy beam  210  known in the art. Further, in accordance with aspects of the present disclosure, the energy detector  206  may be coupled to the controller  136 , as shown in  FIG.  16   , such that the controller  136  receives the output signal from the energy detector  206  in response to the sample energy beam. Accordingly, as described later herein, the controller  136  may be configured to analyze the output signal from the energy detector  206  in response to the sample energy beam  210  and identify one or more material attributes of the tip  12  or debris  20  disposed on the tip  12 . Optionally, the energy source  204  may operatively be coupled to the controller  136  of  FIG.  16   , such that the controller  136  may control attributes of the incident energy beam  208  that is generated by the energy source  204 , such as, but not limited to an intensity of the incident energy beam  208 , a frequency of the incident energy beam  208 , or both. In one aspect, a direction of the energy source  204 , the sample energy beam  210 , and/or the energy detector  206  may be adjusted in response to the output signal from the energy detector  206 . 
     According to an aspect of the disclosure, the controller  136  may operatively be coupled to an actuator system including the one or more actuators  134  and the energy detector  206 , the controller  136  being configured to receive a first signal based on a first response of the energy detector to a sample irradiation, such as the sample energy beam  210 , and being configured to effect relative motion between the tip  12  and the at least one energy detector  206  via the one or more actuators  134  based on the first signal. In one aspect, the controller  136  may be configured to generate a first frequency domain spectrum of the sample irradiation based on a first response of the irradiation detector to a sample irradiation, and generate a second frequency domain spectrum by subtracting a background frequency domain spectrum from the first frequency domain spectrum. In response to the second frequency domain spectrum, the controller  136  may effect relative motion between the tip  12  and at least one of the energy source  204  and the energy detector  206  via the one or more actuators  134 . In one aspect, the controller  136  may further be configured to generate the background frequency domain based on a response of the energy detector  206  on the tip  12  when the tip  12  is free of or substantially free of contamination. In one aspect, the controller  136  may be configured to receive a second signal based on a second response of the energy detector  206  to the sample irradiation, and the controller  136  may be configured to effect relative motion between the tip  12  and at least one of the energy detector  206  and the energy source  204  via the one or more actuators  134  based on a difference between the first signal and the second signal. In one aspect, the controller  136  is configured to effect a magnitude of relative motion between the tip  12  and at least one of the energy detector  206  and the energy source  204  based on a difference between the first signal and the second signal. 
     Referring now to  FIGS.  17 A,  17 B,  18 A and  18 B , it will be appreciated that  FIGS.  17 A and  18 A  illustrate top views of a debris collection and metrology apparatus  250 , and  FIGS.  17 B and  18 B  illustrate side views of a debris collection and metrology apparatus  250 , according to aspects of the disclosure. Similar to the debris collection and metrology apparatus  200 , illustrated in  FIGS.  15  and  16   , respectively, the debris collection and metrology apparatus  250  may include a substrate support assembly  102 , a tip support assembly  104 , a base  106 , and a metrology system  202 . However, in the debris collection and metrology apparatus  250 , the energy source  204  and the energy detector  206  may each be directed towards and trained on a patch  252  instead of the tip  12 . 
     The patch  252  may embody any of the structures or attributes of the first patch  142  or the second patch  144  previously discussed, or the patch  252  may include or be configured as a collection pocket or collection through-hole for collecting debris or contaminate from the tip  12 , as will be described in further detail with reference to  FIGS.  30 - 37   . Accordingly, the debris collection and metrology apparatus  250  may be configured to analyze a material property of the patch  252 , debris  20  disposed on the patch  252 , or combinations thereof, using the metrology system  202 . 
     Actuation and/or adjustment of the substrate stage assembly  110 , the tip stage assembly  130 , or both, is capable of effecting at least three procedures using the debris collection and metrology apparatus  250 . During a first procedure, actuation and/or movement of the substrate stage assembly  110 , the tip stage assembly  130 , or both, effects contact between the tip  12  and a substrate  18  disposed on the fixture  108 , such that debris  20  is transferred from the substrate  18  to the tip  12 . During a second procedure, actuation and/or movement of the substrate stage assembly  110 , the tip stage assembly  130 , or both, effects contact between the tip  12  and the patch  252  to transfer debris  20  from the tip  12  to the patch  252 . During a third procedure, actuation and/or movement of the substrate stage assembly  110  directs and trains each of the energy source  204  and the energy detector  206  onto the patch  252 , such that an incident energy beam  208  from the energy source  204  is incident upon the patch  252 , and a sample energy beam  210  emanating from the patch  252  is incident up on the energy detector  206 . 
     As shown in  FIGS.  18 A and  18 B , the energy detector  206  may be coupled to the controller  136 , such that the controller  136  receives the output signal from the energy detector  206  in response to the sample energy beam. Accordingly, as described later herein, the controller  136  may be configured to analyze the output signal from the energy detector  206  in response to the sample energy beam  210  and identify one or more material attributes of the patch  252  or debris  20  disposed on the patch  252 . Optionally, the energy source  204  may operatively be coupled to the controller  136  of  FIGS.  18 A and  18 B , such that the controller  136  may control attributes of the incident energy beam  208  that is generated by the energy source  204 , such as, but not limited to an intensity of the incident energy beam  208 , a frequency of the incident energy beam  208 , or both. In one aspect, a direction of the energy source  204 , the sample energy beam  210 , and/or the energy detector  206  may be adjusted in response to the output signal from the energy detector  206 . 
     Referring now to  FIGS.  19 A,  19 B,  20 A and  20 B , it will be appreciated that  FIGS.  19 A and  20 A  illustrate top view of a debris collection and metrology apparatus  250 , and  FIGS.  19 B and  20 B  illustrate side views of a debris collection and metrology apparatus  250 , according to aspects of the disclosure. Similar to the debris collection and metrology apparatuses  250  of  FIGS.  17 A,  17 B,  18 A and  18 B , the debris collection and metrology apparatus  250  may include a substrate support assembly  102 , a tip support assembly  104 , a base  106 , a metrology system  202 , an energy source  204 , and an energy detector  206 . The debris collection and metrology apparatus  250  of  FIGS.  17 A,  17 B,  18 A and  18 B  may further include a first patch  252  and a second patch  254 . In one aspect, the first patch  252  and the second patch  254  may be disposed on opposite sides of the substrate  18  and mounted to the fixture  108 . The energy source  204  and the energy detector  206  may each be directed towards and trained on at least one of the first patch  252  and the second patch  254 . The first patch  252  and the second patch  254  may embody any of the structures or attributes previously described. Additionally, or alternatively, the first patch  252  and the second patch  254  may include or may be configured as a collection pocket or collection through-hole for collecting debris or contaminate from the tip  12 , as will be described in further detail with reference to  FIGS.  30 - 37   . For example, the debris collection and metrology apparatus  250 , the energy source  204  and the energy detector  206  may each be directed towards the collection pocket or collection through-hole to analyze a material property of debris or contaminate  20  collected on the collection pocket or collection through-hole using the metrology system  202 . 
     Actuation and/or adjustment of the substrate stage assembly  110 , the tip stage assembly  130 , or both, is capable of effecting at least three procedures using the debris collection and metrology apparatus  250 . In accordance with an aspect of the present disclosure, debris may be removed from the substrate  18  and collected using a collection pocket or a collection through-hole as will be described in further detail below. The collection pocket or the collection through-hole may be a part of the first patch  252  and the second patch  254 , or may be mounted or positioned at a location of the first patch  252  and the second patch  254 . 
     During a first procedure, actuation and/or movement of the substrate stage assembly  110 , the tip stage assembly  130 , or both, effects contact between the tip  12  and a substrate  18  disposed on the fixture  108 , such that debris  20  is transferred from the substrate  18  to the tip  12 . During a second procedure, actuation and/or movement of the substrate stage assembly  110 , the tip stage assembly  130 , or both, effects contact between the tip  12  and the collection pocket or the collection through-hole of the first patch  252 , thereby transferring debris  20  from the tip  12  to the collection pocket or the collection through-hole of the first patch  252 . In one aspect, the actuation and/or movement of the tip  12  relative to the collection pocket or the collection through-hole of the first patch  252  may following a predetermined trajectory as will be described in further detail below with references to  FIGS.  33  and  34   . During a third procedure, actuation and/or movement of the substrate stage assembly  110  directs and trains each of the energy source  204  and the energy detector  206  onto the collection through-hole of the first patch  252 , such that an incident energy beam  208  from the energy source  204  is incident upon the patch  252 , and a sample energy beam  210  emanating from the patch  252  is incident up on the energy detector  206 . 
     Turning to  FIGS.  20 A and  20 B , the energy detector  206  may be coupled to the controller  136 , such that the controller  136  receives the output signal from the energy detector  206  in response to the sample energy beam. The controller  136  may be configured to analyze the output signal from the energy detector  206  in response to the sample energy beam  210  and identify one or more material attributes of the collection pocket or the collection through-hole of the first patch  252 , or debris disposed on the collection pocket or the collection through-hole of the first patch  252 . Optionally, the energy source  204  may operative be coupled to the controller  136  of  FIGS.  20 A and  20 B , such that the controller  136  may control attributes of the incident energy beam  208  that is generated by the energy source  204 , such as, but not limited to an intensity of the incident energy beam  208 , a frequency of the incident energy beam  208 , or both. In one aspect, a direction of the energy source  204 , the sample energy beam  210 , and/or the energy detector  206  may be adjusted in response to the output signal from the energy detector  206 . 
     Referring now to  FIGS.  21 A and  21 B , it will be appreciated that  FIG.  21 A  illustrates a top view of a debris collection and metrology apparatus  260 , according to an aspect of the disclosure, and  FIG.  21 B  illustrates a side view of a debris collection and metrology apparatus  260 , according to an aspect of the disclosure. Similar to the debris collection and metrology apparatus  200  and  250 , illustrated in  FIGS.  15 - 20   , the debris collection and metrology apparatus  260  includes a substrate support assembly  102 , a tip support assembly  104 , a base  106 , and a metrology system  202 . However, in the debris collection and metrology apparatus  260 , the tip support assembly  104  further includes a robot  262 . 
     The robot  262  may include a motor  264  and a robotic arm  266 . A proximal end of the robotic arm  266  may operatively be coupled to the base  106  via a motor  264 , and the tip stage assembly  130  may operatively be coupled to a distal end of the robotic arm  266 , such that operation of the motor  264  effects relative motion between the tip  12  and the base  106 . According to an aspect of the disclosure, operation of the motor  264  effects rotational motion of the tip  12  relative to the base  106  about a rotational axis  268  of the robot  262 . 
     The metrology system  202  includes a patch  252  and may include a metrology stage assembly  270  to support the patch  252 . Alternatively, the patch  252  may be supported directly on or by the base  106 , absent a metrology stage assembly  270 . The metrology stage assembly  270  may be configured to effect relative motion between the patch  252  and the base  106  in translation along the x-direction  112 , in translation along the y-direction  114 , in translation along the z-direction  116 , in rotation about the x-direction  112 , in rotation about the y-direction  114 , in rotation about the z-direction  116 , combinations thereof, or any other relative motion known in the art. Further, the metrology stage assembly  270  may embody any of the structures or attributes described previously for the substrate stage assembly  110 , the tip stage assembly  130 , or both. 
     In  FIGS.  21 A and  21 B , the robotic arm  266  is shown in a first position, such that the tip  12  is located proximal to the fixture  108 . When the robotic arm  266  is located in the first position, motion of the substrate stage assembly  110 , the tip stage assembly  130 , or both, is sufficient to effect contact between the tip  12  and a substrate  18  mounted to the fixture  108 . Accordingly, when the robotic arm  266  is located in its first position, the debris collection and metrology apparatus  260  may effect a transfer of debris  20  from the substrate  18  to the tip  12 . 
     In  FIGS.  22 A and  22 B , the robotic arm  266  is shown in a second position, such that the tip  12  is located proximal to a metrology system  202 . When the robotic arm  266  is located in its second position, motion of the tip stage assembly  130 , or combined motion of the tip stage assembly  130  and the metrology stage assembly  270 , is sufficient to effect contact between the tip  12  and the patch  252 . Accordingly, when the robotic arm  266  is located in the second position, the debris collection and metrology apparatus  270  may effect a transfer of debris  20  from the tip  12  to the patch  252 . In accordance with an aspect of the present disclosure, the patch  252  may include or be configured as a collection pocket or collection through-hole for collecting debris or contaminate from the tip  12 , as will be described in further detail with reference to  FIGS.  30 - 37   . Although not shown in  FIGS.  21 A and  21 B , the debris collection and metrology apparatus  270  may include an energy source  204  and an energy detector  206  directed towards and trained on the patch  252 , similar or identical to those illustrated in  FIGS.  17 A and  17 B  to perform metrology analysis on the patch  252 , debris  20  disposed on the patch  252 , or both. 
     According to an aspect of the disclosure, any one or more of the robot  262 , the substrate stage assembly  110 , the tip stage assembly  130 , and the metrology stage assembly  270  in the debris collection and metrology apparatus  260  may operatively be coupled to the controller  136  for control thereof. Accordingly, the controller  136  may be configured to actuate the robot  262  to switch configurations between the aforementioned first position shown in  FIGS.  21 A and  21 B  and the second position shown in  FIGS.  22 A and  22 B . 
     Referring now to  FIGS.  23 A and  23 B , it will be appreciated that  FIG.  23 A  illustrates a bottom view of a tip support assembly  104 , according to an aspect of the disclosure, and  FIG.  23 B  illustrates a partial cross-sectional side view of a tip support assembly  104  taken along section line  23 B- 23 B according to an aspect of the disclosure. The tip support assembly  104  illustrated in  FIGS.  23 A and  23 B  may be especially suited for integration into the robotic arm  266 , as shown in  FIGS.  21 A,  21 B,  22 A and  22 B . However, it will be appreciated that the tip support assembly  104  may be advantageously incorporated into other debris collection and/or metrology systems to satisfy particular needs, as will be appreciated by one skilled in the art in view of the present disclosure. 
     The tip support assembly  104  illustrated in  FIGS.  23 A and  23 B  includes a z-actuator  280 , a camera  282 , or both, however, it will be appreciated that the tip support assembly  104  may embody any other structures or attributes previously discussed for tip support assemblies, not limited to means for translational motion along the x-direction  112  or the y-direction  114 , as well as rotational motion about any of the x-direction  112 , the y-direction  114 , and the z-direction  116 . 
     A proximal end of the z-actuator  280  may operatively be coupled to the robotic arm  266 , and a distal end of the z-actuator  280  may operatively be coupled to the tip  12  via the tip cantilever  132 , the camera  282 , or both. Accordingly, operation of the z-actuator  280  effects relative motion between the tip  12 , the camera  282 , or both along the z-direction  116 . The z-actuator  280  may include a rotary motor and a screw structure, a linear servo-motor structure, a pneumatic or hydraulic piston structure, a piezoelectric structure, or any other linear actuator structure known in the art. 
     It will be appreciated that the z-actuator  280  may operatively be coupled to the controller  136  to control a relative motion between the robotic arm  266  and the tip  12 , the camera  282 , or both. Further the camera  282  may also be coupled to the controller  136  to provide images of a substrate proximate to the tip  12  to a user display, a machine vision algorithm for control of the tip  12 , or both. 
     Referring now to  FIGS.  24 A and  24 B , it will be appreciated that  FIG.  24 A  illustrates a bottom view of a metrology system  202 , which may be the same or a similar the metrology system  202  previously described with reference to  FIGS.  15 - 20   , although it will be appreciated by one skilled in the art that the metrology system  202  of  FIGS.  24 A and  24 B  may be representative of other systems including at least a tip  12 , a tip stage assembly  13 , an energy source  204 , and an energy detector  206 .  FIG.  24 B  illustrates a side view of a metrology system  202 , according to an aspect of the disclosure. The structure of the metrology system  202  illustrated in  FIGS.  24 A and  24 B  may be applicable to the debris collection and metrology apparatus  200  illustrated in  FIGS.  15  and  16   , where metrology procedures are performed directly on the tip  12 , debris  20  disposed on the tip  12 , or both. However, it will be appreciated that the metrology system  202  illustrated in  FIGS.  24 A and  24 B  may be advantageously applicable to other metrology systems and apparatus. In one aspect, the specific tip  12  shown in  FIGS.  24 A and  24 B  may include a tetrahedral shape. As shown in  FIGS.  24 A and  24 B , the tip  12  with the tetrahedral shape is free of any debris  20 . Accordingly, the metrology system  202  may be used to analyze attributes of the tip  12  absent any debris  20  attached to the tip  12 . 
     The energy source  204  may be directed towards and trained on the tip  12 , such that an incident energy beam  208  generated by the energy source  204  is incident upon the tip  12 , and the energy detector  206  may be directed towards and trained on the tip  12 , such that a sample energy beam  210  generated in response to the incident energy beam  208  on the tip  12  is received by the energy detector  206 . The tip stage assembly  130  may operatively be coupled to the tip  12 , such that the tip stage assembly  130  may move the tip  12  relative to the energy source  204 , the energy detector  206 , or both, in translation along or rotation about any of the x-direction  112 , the y-direction  114 , and the z-direction  116 . According to an aspect of the disclosure, the tip stage assembly  130  is configured to at least rotate the tip  12  about a tip longitudinal axis  284  extending through the tip  12 . According to an aspect of the present disclosure, the tip  12  specifically illustrated in  FIGS.  24 A and  24 B  includes a tetrahedral shape. 
     The tip stage assembly  130 , the energy source  204 , the energy detector  206 , or combinations thereof, may operatively be coupled to the controller  136  for control thereof. Accordingly, the controller  136  may selectively direct the incident energy beam  208  onto different surfaces of the tip  12  by actuating the tip stage assembly  130 , and the controller  136  may receive one or more signals from the energy detector  206  that are indicative of an attribute of the resulting sample energy beam  210 . As shown in  FIGS.  24 A and  24 B , the tip  12  may be free of any debris  20 . Accordingly, the metrology system  202  may be used to analyze attributes of the tip  12  absent any debris  20  attached to the tip  12 . 
     Referring now to  FIGS.  25 A and  25 B , it will be appreciated that  FIG.  25 A  illustrates a bottom view of a metrology system  202 , and  FIG.  25 B  illustrates a side view of a metrology system  202 , according to an aspect of the disclosure. The metrology system  202  illustrated in  FIGS.  25 A and  25 B  may embody any of the structures or attributes described for the metrology system  202  illustrated in FIGS.  FIGS.  15 - 20 ,  24 A and  24 B . However, the metrology system  202  illustrated in  FIGS.  25 A and  25 B  shows debris  20  attached to the tip  12  with the tetrahedral shape. Accordingly, the metrology system  202  may be used to analyze attributes of the tip  12 , debris  20  attached to the tip  12 , or both. 
     Referring now to  FIGS.  26 A and  26 B , it will be appreciated that  FIG.  26 A  illustrates a bottom view of a metrology system  202 , and  FIG.  26 B  illustrates a side view of a metrology system  202 , according to an aspect of the disclosure. The metrology system  202  illustrated in  FIGS.  26 A and  26 B  may embody any of the structures or attributes of the metrology system  202  illustrated in  FIGS.  24 A and  24 B . However, unlike  FIGS.  24 A and  24 B , the specific tip  12  illustrated in  FIGS.  26 A and  26 B  includes a circular conical shape. As shown in  FIGS.  26 A and  26 B , the tip  12  with the circular conical shape is free of any debris  20 . Accordingly, the metrology system  202  may be used to analyze attributes of the tip  12  absent any debris  20  attached to the tip  12 . 
     Referring now to  FIGS.  27 A and  27 B , it will be appreciated that  FIG.  27 A  illustrates a bottom view of a metrology system  202 , and  FIG.  27 B  illustrates a side view of a metrology system  202 , according to an aspect of the disclosure. The metrology system  202  illustrated in  FIGS.  27 A and  27 B  may embody any of the structures or attributes described for the metrology system  202  illustrated in  FIGS.  26 A and  26 B . However, the metrology system  202  illustrated in  FIGS.  27 A  and  27 B shows debris  20  attached to the tip  12  with the circular conical shape. Accordingly, the metrology system  202  may be used to analyze attributes of the tip  12 , debris  20  attached to the tip  12 , or both. 
     Referring now to  FIGS.  28 A and  28 B , it will be appreciated that  FIG.  28 A  illustrates a bottom view of a metrology system  202 , according to an aspect of the disclosure, and  FIG.  28 B  illustrates a side view of a metrology system  202 , according to an aspect of the disclosure. The metrology system  202  illustrated in  FIGS.  28 A and  28 B  may embody any of the structures or attributes of the metrology system  202  illustrated in  FIGS.  24 A and  24 B . However, unlike  FIGS.  24 A and  24 B , the specific tip  12  illustrated in  FIGS.  28 A and  28 B  includes a pyramidal shape. As shown in  FIGS.  28 A and  28 B , the tip  12  with the pyramidal shape is free of any debris  20 . Accordingly, the metrology system  202  may be used to analyze attributes of the tip  12  absent any debris  20  attached to the tip  12 . 
     Referring now to  FIGS.  29 A and  29 B , it will be appreciated that  FIG.  29 A  illustrates a bottom view of a metrology system  202 , according to an aspect of the disclosure, and  FIG.  29 B  illustrates a side view of a metrology system  202 , according to an aspect of the disclosure. The metrology system  202  illustrated in  FIGS.  29 A and  29 B  may embody any of the structures or attributes described for the metrology system  202  illustrated in  FIGS.  28 A and  28 B . However, the metrology system  202  illustrated in  FIGS.  29 A and  29 B  shows debris  20  attached to the tip  12  with the pyramidal shape. Accordingly, the metrology system  202  may be used to analyze attributes of the tip  12 , debris  20  attached to the tip  12 , or both. 
     Turning to  FIGS.  30 - 37   , exemplary contaminate collectors with a collection pocket or a collection through-hole will now be described. Referring now to  FIGS.  30 A and  30 B ,  FIG.  30 A  illustrates a cross-sectional side view (taken at  30 A- 30 A of  FIG.  30 B ) of a contaminate collector  30  for collecting contaminate samples  33  from a tip  12 , and the tip  12  may be the same or similar to those previously described with respect to exemplary debris detection and collection systems. The contaminate samples  33  may include one or more pieces of debris or particles  20  described above. The contaminate collector  30  may define a collection pocket  32  including at least three sidewalls  34  extending from a first upper surface  36  to a second upper surface  38 . The height (h) of the sidewalls  34  may be selected such that at least a portion of the tip  12  may be inserted into a depth of the collection pocket  32 . In one aspect, the height (h) of the sidewalls  34 , which defines the depth of the collection pocket  32 , may be between 25% to 200% a length (L) of the tip  12 . In one aspect, the height (h) of the sidewalls may be selected to promote refraction for spectroscopy to analyze the contaminate samples  33  that may be deposited in or on the contaminate collector  30 . 
     In one aspect, an intersection between the first upper surface  36  and the sidewalls  34  forms a first set of internal edges, and an intersection between the second upper surface  38  and the sidewalls  34  forms a second set of internal edges. The sidewalls  34  may define at least one internal surface extending from the first upper surface  36  to the second upper surface  38 . In one aspect, an irradiation source, such as the energy source  204  described above, may be configured and arranged to direct an incident irradiation onto the internal surface or surfaces of the contaminate collector  30 . In one aspect, an irradiation detector, such as the energy detector  206  described above, may be configured and arranged to receive a sample irradiation from the one or more internal surfaces of the contaminate collector  30 , the sample irradiation being generated by the incident irradiation being directed onto and reflect back from onto the one or more internal surface or surfaces of the contaminate collector  30 . 
     As shown in  FIGS.  30 B , the three sidewalls  34 , and the corresponding first internal edge, may form an equilateral triangle outline when viewed from the top. Each set of adjacent sidewalls  34  may form a set of contaminate collection edges  35 . In one aspect, a tip  12  having a tetrahedral shape may be used with the contaminate collector  30  of  FIGS.  30 A and  30 B . One or more edges  13  of the tip  12  may be maneuvered near, adjacent to, brushed against, or dragged against the one or more contaminate collection edges  35  of the collection pocket  32  such that contaminate samples  33  may be transferred from the tip  12  to the collection pocket  32 . In select aspects, the contaminate collector  30  may include three sidewalls  34  that form a non-equilateral triangular outline (e.g., isosceles, scalene, acute-angled, right-angled, or obtuse-angled triangles) when viewed from the top. The non-equilateral triangular cross-section define the contaminate collection edges  35  that are non-equal and may therefore be adapted to extract contaminate samples  33  from tips of various sizes and/or shapes, as will be appreciated by one skilled in the art in view of the present disclosure. In one aspect, each edge of the contaminate collection edges  35  may have a length of less than or equal to 10 mm to reduce the amount of travel needed for the tip  12  to transfer contaminate samples  33  to the collection pocket  32 , particularly when the contaminate samples  33  are nanometer level structures. 
     Referring now to  FIGS.  31 A and  31 B ,  FIG.  31 A  illustrates a cross-sectional side view (taken at  31 A- 31 A of  FIG.  31 B ) of a contaminate collector  30  for collecting contaminate samples  33  from a tip  12 , and the tip  12  may be the same or similar to those previously described with respect to exemplary debris detection and collection systems. The contaminate collector  30  may define a collection pocket  32  including sidewalls  34  extending from a first upper surface  36  to a second upper surface  38 . The height (h) of the sidewalls  34  may be selected such that at least a portion of the tip  12  may be inserted into a depth of the collection pocket  32 . In one aspect, the height (h) of the sidewalls  34 , which defines the depth of the collection pocket, may be between 25% to 200% a length (L) of the tip  12 . In one aspect, the height (h) of the sidewalls may be selected to promote refraction for spectroscopy to analyze the contaminate samples  33  that may be deposited in or on the contaminate collector  30 . 
     In one aspect, as shown in  FIGS.  31 B , the contaminate collector  30  may include a cylindrical sidewall  34  forming a circular outline when view from the top. A contaminate collection internal edge  35  may be formed at an intersection between the first upper surface  36  and the sidewall  34 . In one aspect, a tip  12  having a circular conical shape may be used with the contaminate collector  30  of  FIGS.  31 A and  31 B . A surface of the conical tip  12  may be maneuvered near, adjacent to, brushed against, or dragged against the contaminate collection edge  35  of the collection pocket  32  such that contaminate samples  33  may be transferred from the tip  12  to the collection pocket  32 . In select aspects, the contaminate collector  30  may include a sidewall  34  that defines an oval or elliptical outline when viewed from the top, and may therefore be adapted to extract contaminate samples  33  from tips of various sizes and/or shapes, as will be appreciated by one skilled in the art in view of the present disclosure. In one aspect, a diameter of the contaminate collection edge  35  may be less than 10 mm wide. In select aspects, the diameter of the contaminate collection edge  35  may be less than or equal to 500 microns wide to reduce the amount of travel needed for the tip  12  to transfer contaminate samples  33  to the collection pocket  32 , particularly when the contaminate samples  33  are nanometer level structures. 
     Referring now to  FIGS.  32 A and  32 B ,  FIG.  32 A  illustrates a cross-sectional side view (taken at  32 A- 32 A of  FIG.  32 B ) of a contaminate collector  30  for collecting contaminate samples  33  from a tip  12 , and the tip  12  may be the same or similar to those previously described with respect to exemplary debris detection and collection systems. The contaminate collector  30  may define a collection pocket  32  including sidewalls  34  extending from a first upper surface  36  to a second upper surface  38 . The height (h) of the sidewalls  34  may be selected such that at least a portion of the tip  12  may be inserted into a depth of the collection pocket  32 . In one aspect, the height (h) of the sidewalls  34 , which defines the depth of the collection pocket, may be between 25% to 200% a length (L) of the tip  12 . In one aspect, the height (h) of the sidewalls may be selected to promote refraction for spectroscopy to analyze the contaminate samples  33  that may be deposited in or on the contaminate collector  30 . 
     In one aspect, as shown in  FIGS.  32 B , the contaminate collector  30  may include four sidewalls  34  forming a rectangular or square outline when view from the top. Each set of adjacent sidewalls  34  may form a contaminate collection internal edge  35 . In one aspect, a tip  12  having a pyramidal shape may be used with the contaminate collector  30  of  FIGS.  32 A and  32 B . One or more edges  13  of the tip  12  may be maneuvered near, adjacent to, brushed against, or dragged against one or more collection internal edges  35  of the collection pocket  32  such that contaminate samples  33  may be transferred from the tip  12  to the collection pocket  32 . In one aspect, each edge of the contaminate collection edges  35  may have a length of less than or equal to 10 mm to reduce the amount of travel needed for the tip  12  to transfer contaminate samples  33  to the collection pocket  32 , particularly when the contaminate samples  33  are nanometer level structures. 
     Although particular parings of tip and collection pocket  32  shapes are discussed above in reference to  FIGS.  30 A,  30 B,  31 A,  31 B,  32 A and  32 B , it will be appreciated that any combination of tips  12  and collection pocket  32  shapes may be utilized together or interchangeably. For example, the conical tip  12  of  FIGS.  31 A and  31 B  may be used with the triangular collection pocket  32  of  FIGS.  30 A and  30 B . Additionally, although exemplary triangular, rectangular and circular contaminate collectors are shown in  FIGS.  30 - 32   , contaminate collectors with five or more sidewalls may also be used. 
     Turning to  FIGS.  33 A to  33 C , an exemplary process of maneuvering the tip  12  and transferring contaminate samples  33  from a tip  12  to the contaminate collector  30 , such as those described above with reference to  FIGS.  30 - 32   , will now be described. It will be appreciated that similar step may also be applied for transferring contaminate samples to a contaminate collector  40 , as generally described with reference  FIGS.  35 - 37   . As shown in  FIG.  33 A , a tip  12  may first be positioned centrally above an opening of the collection pocket  32  in the x- and y-directions. The tip  12  may then be lowered at least partially in the z-direction into the collection pocket  32  without contacting the sidewalls  34  of the collection pocket  32 . Next, as shown in  FIG.  33 B , the tip  12  may then be maneuvered towards one of the sidewalls  34  in the x- and/or y-directions. The tip  12  may simultaneously be maneuvered upward in the z-direction such that contaminate samples  33  may brush against or come in close contact with a contaminate collection edge  35  of the collection pocket  32 , whereby contaminate samples  33  may be transferred from the tip  12  to at least a side portion of the contaminate collection edge  35 . 
     In one aspect, the travel of the tip  12  from the position shown in  FIG.  33 A  to  FIG.  33 B  may be defined as a quadratic function such that the tip  12  moves towards and past the contaminate collection edge  35  via a parabolic trajectory, a scraping motion and/or wiping motion. The tip  12  may continue to travel upward and to the right of the contaminate collection edge  35 , from the position shown in  FIG.  33 B , before being maneuvered back to a starting position as shown in  FIG.  33 A . In one aspect, the travel of the tip  12  may be defined as a linear function depending on the size and shape of the tip  12  and the collection pocket  32 . Other trajectories and travel paths for the tip  12  will be appreciated by those skilled in the art in view of the present disclosure. 
     Additionally or alternatively, as shown in  FIG.  34 A  to  FIG.  34 C , the tip  12  may initially be positioned above and offset from a center of the collection pocket  32  in the x- and y-directions. The tip  12  may then be moved downward in the z-direction while also being moved towards the center of the collection pocket  32  in the x- and/or y-directions until at least a portion of the tip  12  is located at least partially within the collection pocket  32 . In moving the tip  12  into the collection pocket  32 , contaminate samples  33  may brush against or come in close contact with the contaminate collection edge  35  of the collection pocket  32 , whereby contaminate samples  33  are transferred from the tip  12  to at least a top portion of the contaminate collection edge  35 . 
     In one aspect, the travel of the tip  12  from the position shown in  FIG.  34 A  to  FIG.  34 C  may be defined as a quadratic function such that the tip  12  moves towards and past the contaminate collection edge  35  via a parabolic trajectory, a scraping motion and/or wiping motion. In one aspect, the travel of the tip  12  may be defined as a linear function depending on the size and shape of the tip  12  and the collection pocket  32 . Other trajectories and travel paths for the tip  12  will be appreciated by those skilled in the art in view of the present disclosure. 
     In accordance with an aspect of the disclosure, the above tip maneuvers of  FIGS.  33 A- 33 C and/or  34 A- 34 C  may be repeated such that the tip  12  contacts different portions of the contaminate collection edge  35 . For example, where the contaminate collection edge  35  has a circular geometry, as described above with reference to  FIGS.  31 A and  31 B , the tip  12  may be maneuvered to contact the 12 o&#39;clock and 6 o&#39;clock locations of the contaminate collection edge  35  (based on a top view orientation shown in  FIG.  31 B ) in order to transfer contaminate samples  33  from different corresponding portions of the tip  12 . In view of the present disclosure, it will be appreciated by one skilled in the art that the tip, maneuver may be repeated to contact additional portions or all portions of the contaminate collection edge  35 . In one aspect, the tip  12  may be maneuvered to transfer contaminate samples  33  from the tip  12  to the contaminate collection edge  35  by brushing against or coming in close contact with a contaminate collection edge  35  at the 12 o&#39;clock, 3 o&#39;clock, 6 o&#39;clock, and 9 o&#39;clock locations. By collecting contaminate samples  33  at different locations on the contaminate collection edge  35 , compositions of collected contaminate samples derived from different portions of the tip  12  can be determined by defining the metrology location at different corresponding portions of the contaminate collection edge  35 . 
     In accordance with an aspect of the disclosure, the above tip maneuvers of  FIGS.  33 A- 33 C and/or  34 A- 34 C  may be repeated such that different portions of the tip  12  may contact or come in close contact with a same location of the contaminate collection edge  35 , thereby depositing all or most of the contaminate samples  33  from the tip  12  to the same location on the contaminate collection edge  35 . For example, the tip  12  may be rotated about the z-axis after transferring contaminate samples  33  to the contaminate collection edge  35 , as shown in  FIG.  33 B or  34 B , and successively maneuvered to pass a same common location on the contaminate collection edge  35 . Additionally, or alternatively, the contaminate collection edge  35 , as shown in  FIG.  33 B or  34 B , may be rotated about the z-axis after transferring contaminate samples  33  from the tip  12  to the contaminate collection edge  35 . Furthermore, in addition to the collection pockets  32  and collection through-holes  46  described in the present disclosure (which have collection edges that completely encircle a tip  12 ), a collection edge or a set of collection edges that do not completely encircle the tip  12  may also be used. For example, the collection edge may consist of a single linear edge or a single C-shaped edge. In one aspect, where a set of collection edges is used, the collection edges together may encircle less than 75% of the tip  12 , and in select aspects, the collection edges together may encircle less than 50% of the tip  12 . By collecting contaminate samples  33  at the same common location on the contaminate collection edge  35 , an entire composition of the collected contaminate samples  33  from the tip  12  can be determined by defining the common location on the contaminate collection edge  35  as the metrology location. 
     In one aspect, the above tip maneuvers of  FIGS.  33 A- 33    C and/or  34 A- 34 C may be combined and used successively such that an upward and laterally outward motion may be followed by a downward and laterally inward motion, or vice versa, to transfer contaminate samples  33  from the tip  12  to the contaminate collection edge  35 . The successive motions may assist in improving the speed of collecting contaminate samples  33  from the tip  12 . 
     Turning to  FIGS.  35 - 37   , exemplary contaminate collectors with a collection through-hole will now be described. Referring now to  FIGS.  35 A and  35 B ,  FIG.  35 A  illustrates a cross-sectional view (taken at  35 A- 35 A of  FIG.  35 B ) of a contaminate collector  40  for collecting contaminate samples  33  from a tip  12 , and the tip  12  may be the same or similar to those previously described with respect to exemplary debris detection and collection systems of the present disclosure. The contaminate collector  40  may include at least a stand  42  and a platform  44 , and the platform  44  may include an internal cut out having a sidewall  45  to define a collection through-hole  46 . In one aspect, the platform  44  may include an upper surface  47  and a lower surface  48 , and the sidewall  45  may extend from the upper surface  47  to the lower surface  48 . A collection lip edge  49  may be defined at an intersection between the sidewall  45  and the upper surface  47 . The stand  42  and the platform  44  may be fixed together, or they may be provided as separate components. 
     In one aspect the contaminate collector  40  may be transported from one location to another, particularly when the collection and metrology systems are separate units, are not integrated together, and/or are not located in the same location. The contaminate collector  40 , or the platform  44  individually, may be moved from the collection system to the metrology system for analysis of the collected contaminate samples  33 . 
     As shown in  FIGS.  35 A and  35 B , the sidewall  45  of the contaminate collector may be beveled such that the collection through-hole  46  narrows in a direction towards a tip entry location. In accordance with an aspect of the present disclosure, the sidewall  45  may be beveled such that the through-hole  46  defines a truncated tetrahedron passage with a generally triangular outline when viewed from above, as shown in  FIG.  35 B . In operation, as shown in  FIGS.  35 A and  35 B , a tetrahedron shaped tip  12  may be positioned to enter the collection through-hole  46  of the contaminate collector  40  from above in the z-direction. The tip  12  may be maneuvered at least downwardly in the z-direction to enter into the collection through-hole  46 . Once at least a portion of the tip  12  has entered into the through-hole  46 , the tip  12  may then be maneuvered laterally in an x- and/or y-directions towards sidewall  45  and the collection lip edge  49  of the contaminate collector  40 . While moving laterally, the tip  12  may simultaneously be maneuvered upward in the z-direction such that contaminate samples  33  may brush against or come in close contact with the collection lip edge  49  and/or the sidewall  45 , whereby contaminate samples  33  are transferred from the tip  12  to the collection lip edge  49  and/or the sidewall  45 . The trajectory and travel of the tip  12  may be the same or similar to those described above with reference to  FIGS.  33 A- 33 C . 
     Additionally, or alternatively, contaminate samples  33  may be removed from the tip  12  by initially positioning the tip  12  above the collection through-hole  46  of the contaminate collector  40  in the z-direction and offset from a center of the through-hole  46  in the x- and/or y-directions. The tip  12  may then be moved downward in the z-direction while also being moved towards the center of the through-hole  46  in the x- and/or y-directions until at least a portion of the tip  12  is located at least partially within the through-hole  46 . In moving the tip  12  in the through-hole  46 , contaminate samples  33  may brush against or come in close contact with the collection lip edge  49  of the through-hole  46 , whereby contaminate samples  33  are transferred from the tip  12  to at least a top portion of the collection lip edge  49 . The trajectory and travel of the tip  12  may be the same or similar to those described above with reference to  FIGS.  34 A- 34 C . 
     Similar to  FIGS.  35 A and  35 B , the contaminate collector  40  of  FIGS.  36 A and  36 B  may include at least a stand  42  and a platform  44 . However, unlike  FIGS.  35 A and  35 B  where the sidewalls  45  define a through-hole  46  with a truncated tetrahedron passage, the platform  44  of  FIGS.  36 A and  36 B  includes an internal cutout having a sidewall  45  that defines a truncated conical passage, including circular, oval, and elliptical conical passages. In operation, the removal of contaminate samples  33  from the tip  12  would follow the same procedure as described above with reference to  FIGS.  35 A and  35 B , with the through-hole  46  being replaced with the truncated conical passage. 
     Similar to  FIGS.  36 A and  36 B , the contaminate collector  40  of  FIGS.  37 A and  37 B  may include at least a stand  42  and a platform  44 . However, unlike  FIGS.  36 A and  36 B  where the sidewall  45  defines a through-hole  46  with a truncated conical passage, the platform  44  of  FIGS.  37 A and  37 B  includes an internal cutout having a plurality of sidewalls  45  to define a collection through-hole  46 . In accordance with an aspect of the present disclosure, the platform  44  may be provided with four sidewalls  45  to define a through-hole  46  with a truncated pyramidal passage. In operation, the removal of contaminate samples  33  from the tip  12  would follow the same procedure as described above with reference to  FIGS.  35 A and  35 B , with the through-hole  46  being replaced with the truncated pyramidal passage. 
     Although truncated tetrahedron passage, truncated conical passages, and truncated pyramidal passages are described above with reference to  FIGS.  35 - 37   , other passage shapes for the through-hole  46  are contemplated, and the passage shapes may be selected based on a corresponding shape of the tip  12 , including non-uniform shapes and where the through-hole may have three or more sidewalls. Of course, it would be apparent to one skilled in the art that other shapes and sizes of tips may be utilized with the contaminate collectors  40  of  FIGS.  35 - 37   . 
     The collection pockets  32  of  FIGS.  30 - 32    and/or the contaminate collectors  40  of  FIGS.  35 - 37    may be usable together with the debris collection apparatus  100  of  FIGS.  12 - 23    as described above, or they may be examined using a contamination analysis system  500  of  FIG.  38   , separate from the tip  12  and the associated actuation and control mechanisms. The collection pockets  32  of  FIGS.  30 - 32    and/or the contaminate collectors  40  of  FIGS.  35 - 37    may be used to collect debris while mounted at a first location, removed, transported to a second location, analyzed in a debris detection process, cleaned, and reused, as will be appreciated by one skilled in the art in view of the present disclosure. 
     As shown in  FIG.  38   , the contamination analysis system  500  may include an energy source  50  and an energy detector  52 . When a contaminate collector  40  is ready to be examined or analyzed, the contaminate collector  40  may be placed or mounted onto the stand  42 . The energy source  50  and the energy detector  52  may be co-located in a single unit, or they may be provided in separate units. The energy source  50  and the energy detector  52  may each be coupled to one or more actuators in order to move the energy source  50  and the energy detector  52  in one or more of the x-, y-, and z-directions, and/or rotate the energy source  50  and the energy detector  52  about the x-, y-, and z-directions. The energy source  50  and the energy detector  52  may be located above, below, or side-by-side with the contaminate collector  40  such that the energy source  50  and the energy detector  52  are operable to be trained on the collection lip edge  49  or the sidewall  45  of the contaminate collector  40 . 
     During or after a contamination collection process whereby contaminate samples  33  are collected on the collection lip edge  49  and/or the sidewall  45  of the contaminate collector  40 , the energy source  50  may be directed towards and trained on the collection lip edge  49  and/or the sidewall  45 , such that an incident energy beam  51  generated by the energy source  50  is incident upon the lip edge  49  and/or the sidewall  45 , and the energy detector  52  may be directed towards and trained on the lip edge  49  and/or the sidewall  45 , such that a sample energy beam  53  generated in response to the incident energy beam  51  on the lip edge  49  and/or the sidewall  45  is received by the energy detector  52 . 
     In accordance with aspects of the disclosure, the energy source  50 , the energy detector  52 , or combinations thereof, may operatively be coupled to a controller  56  for control thereof. Accordingly, the controller  56  may selectively aim and direct the incident energy beam  51  from the energy source  50  onto different surfaces of the lip edge  49  and/or the sidewall  45  by one or more actuators associated with the energy source  50 . The controller  56  may further selectively aim and the energy detector  52  towards the different surfaces being exposed by the incident energy beam  51  in order to receive the sample energy beam  53  generated in response to the incident energy beam  51 . The controller  56  may receive one or more signals from the energy detector  52  that are indicative of an attribute of the resulting sample energy beam  53 . 
     The many features and advantages of the present disclosure are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of the invention which fall within the true spirit and scope of the invention. It is understood that the various aspects of the present disclosure may be combined and used together. Further, since numerous modifications and variations will be readily apparent to those skilled in the art in view of the present disclosure, it is not desired to limit the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope of the invention.