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Modeling and analyzing nano-rod pushing with an AFM

Modeling and analyzing nano-rod pushing with an AFM

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Hou, Jing Wu, Chengdong Liu, Lianqing Wang, Zhidong Dong, Zaili Dept. of Electrical and Computer Engineering Northeastern University Shenyang 110004 China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China

ISBN: (纸本)9781424470334

In developing nano-devices and nano-structures, traditional methodologies on MEMS meet the difficulty from the scale restriction. With the strategy of objects assembly, using AFM to handle nano-rods and other nano-objects is considered as an important and high potential technology in constructing nanostructures. However most of AFM only has one tip as the end effector and cannot control both translational and rotational motions during manipulation, this makes it be difficult to realize posture controllable manipulation especially in nano environment. In this paper, the behavior of nano-rod under pushing is theoretically analyzed and modeled. Viscous friction is incorporated in the model and the two situations that the pivot of the nanorod is either inside or outside the rod are addressed. By modeling, the pivot can be determined at each manipulation in real time, and the pushing points can be planned to realize posture controllable manipulation by using nano-hand strategy which is inspired by stable pushing theory of object manipulation in macro world, and to improve the reliability and the precision of manipulation. ©2010 IEEE.

关键词： Nanorods

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A distributed control approach to robust output regulation of networked linear systems

A distributed control approach to robust output regulation o...

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2010 8th IEEE International Conference on Control and automation, ICCA 2010

作者： Wang, Xiaoli Hong, Yiguang Jie, Huang Jiang, Zhong-Ping Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China Dept. of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Dept. of Electrical and Computer Engineering Polytechnic Institute of New York University Brooklyn NY 11201 United States

ISBN: (纸本)9781424451951

In this paper, the robust output regulation problem of a networked linear system with uncertainties is considered. Based on internal model, distributed control scheme is adopted to achieve the objectives of asymptotic tracking and disturbance rejection in a networked uncertain system where both the reference inputs and disturbances are generated by an exosystem. Both state and output feedback designs are given. © 2010 IEEE.

关键词： Linear systems

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Convex hull manipulation does matter in LMI based observer design, a TP model transformation based optimisation

Convex hull manipulation does matter in LMI based observer d...

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作者： Gróf, Patrícia Baranyi, Péter Korondi, Péter Computer and Automation Research Institute Cognitive Informatics Research Budapest Hungary Budapest University of Technology and Economics Dept. of Telecommunications and Media Informatics Budapest Hungary Budapest University of Technology and Economics Dept. of Mechatronics Optics and Engineering Informatics Budapest Hungary

ISBN: (纸本)9789549260014

This paper deals with the topic of qLPV state-space model based control design in which LMIs are used to optimize the multi-objective control performance. In this paper we investigate how the convex hull of the polytopic model influences the state value estimation of the LMI based control design. We examine these influences through the control design of the two dimensional aeroelastic system's example. First we define various TP type polytopic model representations of a wing section whose vertices define different convex hulls. In the second step we investigate how these models lead to different performances of the state value estimation.

关键词： State space methods

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Controller for urban intersections based on hybrid automaton

Controller for urban intersections based on hybrid automaton

引用

International IEEE Conference on Intelligent Transportation Systems

作者： HosseinNia, S. Hassan Tejado, Inés Vinagre, Bias M. Milanés, Vicente González, Carlos Dept. of Electrical Electronic and Automation Engineering Industrial Engineering School University of Extremadura Badajoz Spain Industrial Computer Science Department Centra de Automática Y Robótica Consejo Superior de Investigaciones Científicas Madrid Spain

ISBN: (纸本)9781424476572

In this paper, the problem of crossing the intersections is studied. A controller is designed based on a hybrid automaton. The design procedure is presented into two cases. The problem of crossing with one automatic car and one manual car from intersection is studied in case one. The safe crossing (i.e. fixing safe distance between two automatic car) of two automatic cars is studied in case two. Simulation is done by the model which is identified by the real data from the car Citroen C3. Simulation results show the efficiency of the controller in both cases. ©2010 IEEE.

关键词： Controllers

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Discrete-time modeling tools for DC-DC converters

Discrete-time modeling tools for DC-DC converters

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2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010

作者： Hamar, J. Nagy, I. Funato, H. Nishida, Y. Ohsaki, H. Masada, E. Department of Automation and Applied Informatics Budapest University of Technology and Economics Goldmann Gyorgy Ter 3 1111 Budapest Hungary MFKK Invention and Research Center Services Co. Ltd. Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Science Budapest Hungary Dept. of Electrical and Electronic Engineering Utsunomiya University Utsunomiya Japan Dept. of Electric Electronics and Computer Engineering Chiba Institute of Technology Japan University of Tokyo Tokyo Japan Railway Technology Research Institute Tokyo Japan

ISBN: (纸本)9781424453955

The objective of the discrete-time modeling tools is twofold. First, they give an insight into the basic ideas of discrete-time modeling of dc-dc converters for university students and interested power electronics specialists. Second, as it is being presented below, the interactive calculation tools facilitate the fast and simple model-development in WEB browser after entering the basic circuit and load parameters. This feature can especially be useful for the practicing design engineers, since without long calculations with matrix functions the linearized discrete-time system model is immediately and automatically developed in both mathematical form (state-space equations and transfer functions in the Z domain) and also in graphical form (pole-zero map and bode plot). © 2010 IEEE.

关键词： DC-DC converters

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Polytopic representation of impedance model with feedback delay

Polytopic representation of impedance model with feedback de...

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作者： Galambos, Péter Baranyi, Péter Korondi, Péter Computer and Automation Research Institute Hungarian Academy of Sciences Cognitive Informatics Group Hungary Budapest University of Technology and Economics Dept. of Manufacturing Science and Technology Hungary Budapest University of Technology and Economics Dept. of Telecommunications and Media Informatics Hungary Budapest University of Technology and Economics Dept. of Mechatronics Optics and Engineering Informatics Hungary

ISBN: (纸本)9789549260014

In haptic and telemanipulation devices stability and transparency are contradicting requirements. Due to the network delay the control process may become unstable. In our research we consider the coupled impedance type control algorithms for force reflecting telemanipulation. In this paper, an extended TP model transformation is proposed to convert the delayed system into a polytopic tensor product (TP) model considering the value of the feedback delay as a parameter. Using such model, the design of a stabilizing controller become easier as it does not contain feedback delay. As example, a single degree of freedom impedance model with feedback delay is discussed. The results are confirmed by numerical simulation.

关键词： Degrees of freedom (mechanics)

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AFM tip on-line positioning by using the landmark in nano-manipulation

AFM tip on-line positioning by using the landmark in nano-ma...

引用

2010 4th IEEE Nanotechnology Materials and Devices Conference, NMDC2010

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of the Chinese Academy of Sciences Beijing 100039 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba 275-0016 Japan Dept. of Electrical and Computer Engineering Michigan State University United States

ISBN: (纸本)9781424488964

AFM has been proved to be a powerful nano-manipulation tool taking advantage of its ultra high resolution and precision. However the large spatial uncertainties associated with AFM tip positioning dual to the PZT nonlinearity and thermal drift are still challenging problems, which hinders its wide application especially in building complex structures In this paper, a probabilistic approach combined with the Kalman filter based localization algorithm is proposed to improve the accuracy of the tip positioning in the task space coordinate frame. A motion model based on the Prandtl-Ishlinskii (PI) model is established, the distribution of model error is statistically obtained through the experimental calibration process. In addition, to further reduce the tip position uncertainties, an environment measurement models is developed through sensing the landmark intermittently with local scanning method during manipulation. Both the simulations results and experimental results are presented to demonstrate the validity of the proposed method. © 2010 IEEE.

关键词： Uncertainty analysis

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A probabilistic approach for on-line positioning in nano manipulations

A probabilistic approach for on-line positioning in nano man...

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2010 8th World Congress on Intelligent Control and automation, WCICA 2010

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University Chinese Academy of Sciences Beijing 100039 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba 275-0016 Japan Dept. of Electrical and Computer Engineering Michigan State University United States

ISBN: (纸本)9781424467129

Nanomanipulation and nanoassembly using atom force microscopy (AFM) is a potential and promising technology for nanomanufacturing. Precise position of the tip of AFM is important to increase the accuracy and efficiency on fabricate complex nanostructures. However at the nano-scale, it is difficult to acquire the tip position expressed by the coordinate in real time due to PZT nonlinearity and thermal drift through the general measure. In this paper, a probabilistic approach incorporating a Kalman filter based localization algorithm is introduced into the on-line estimation of the tip position expressed by probability distribution known as probability density function. A probabilistic motion model of AFM tip is introduced that consists of a PZT dynamic model based on the Prandtl-Ishlinskii (PI) model, and motion error distribution obtained from calibration experiments. An observation model by using a local scanning algorithm is proposed and the change of uncertainty distribution on scanning landmarks, e.g. nano-particles, near the target position is analyzed. Some experiment results are included for showing the motion error distribution and a simulation result is presented to illustrate the validity of the proposed method. © 2010 IEEE.

关键词： Kalman filters

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Approximate Off-Line Receding Horizon Control of Constrained Nonlinear Discrete-Time Systems: Smooth Approximation of the Control Law

Approximate Off-Line Receding Horizon Control of Constrained...

引用

American Control Conference

作者： Gilberto Pin Marco Filippo Felice Andrea Pellegrino Gianfranco Fenu Thomas Parisini Danieli Automation S.p.A Dept. of Electrical Electronic and Computer Engineering DEEI University of Trieste Italy

ISBN: (纸本)9781424474264

In this work, the off-line approximation of state-feedback nonlinear model predictive control laws by means of smooth functions of the state is addressed. The idea is to investigate how the approximation errors affect the stability of the closed-loop system, in order to derive suitable bounds which have to be fulfilled by the approximating function. This analysis allows to conveniently set up the characteristic parameters of some techniques such as Neural Networks which can be used to implement the control law, in order to render the system Input-to-State Practically Stable while satisfying, in addition, hard constraints on the trajectories;both the amount of data storage and the computational time result strongly reduced with respect to Nearest Neighbor or Set Membership approaches, which have been recently proposed to obtain effective off-line approximation of nonlinear MPC. The provided simulations confirm the validity of the method.

关键词： control law Approximate OFF LINE approximation nonlinear model predictive control Nearest neighbor Data Storage Approximation error computational time Closed loop systems

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Investigation of tier-swapping to improve the thermal profile of memory-on-logic 3DICs

Investigation of tier-swapping to improve the thermal profil...

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作者： Melamed, Samson Thorolfsson, Thorlindur Srinivasany, Adi Chengy, Edmund Franzon, Paul Davis, W. Rhett Dept. of Electrical and Computer Engineering North Carolina State University Box 7911 Raleigh NC 27695 United States Gradient Design Automation 4633 Old Ironsides Drive Santa Clara CA 95054 United States

ISBN: (纸本)9782355000126

In 3DICs heat dissipating devices are stacked directly on top of each other leading to a higher heat density than in a comparable 2D chip. 3D integration also moves the majority of active devices further away from the heatsink. This results in a degraded thermal path which makes it more challenging to remove heat from the active devices. Gradient HeatWave-3DIC was used to perform an appropriate 3D thermal analysis on a 1024-point, memory-on-logic 3DIC FFT processor for synthetic aperture radar (SAR). The chip was simulated with a spatial resolution of 80 nm, and was modeled to include the effect of each line of interconnect, as well as each via and fill structure exactly as drawn in the layout. Large isolated temperature spikes were found near groups of clock buffers at the edge of the SRAMs on the middle tier. The effect of reordering the stackup of memory and logic tiers has been investigated. It was found that placing the memory tier closer to the heatsink improved not only the thermal profile of the memories but also of the logic tiers. Temperature spikes in the memories no longer significantly impacted the logic tiers, yielding a design where the thermal profile of the tiers were significantly less dependent on each other.

关键词： Thermoanalysis

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