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检索条件"机构=Jiangsu Key Laboratory for Advanced Robotics Technology"

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An extended PI model for hysteresis and creep compensation in AFM based nanomanipulation

An extended PI model for hysteresis and creep compensation i...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School of Chinese Academy of Sciences Beijing 100001 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China

ISBN: (纸本)9781424493173

One of the prerequisites for AFM based nanomanipulation is that the tip position can be controlled accurately, while this prerequisite is still hindered by the large model uncertainties aroused from PZT nonlinearity such as hysteresis and creep. In this paper, an Extended Prandtl-Ishlinskii (EPI) model is proposed to solve these problems. The main advantage of EPI model over conventional PI model is that the EPI model can compensate the positioning error caused by hysteresis and creep simultaneously through adopting the new adaptive basic operator. The experimental results demonstrate the effectiveness and validity of EPI model in depicting the PZT hysteresis and creep prosperities. © 2010 IEEE.

关键词： Creep

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Modeling and analyzing nano-particle pushing with an AFM by using nano-hand strategy

Modeling and analyzing nano-particle pushing with an AFM by ...

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems

作者： Hou, Jing Wang, Zhidong Liu, Lianqing Yang, Yongliang Dong, Zaili Wu, Chengdong College of Information Science and Engineering Northeastern University Shenyang 110004 China Department of Advanced Robotics Chiba Institute of Technology Chiba 275-0016 Japan State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China

ISBN: (纸本)9781424465439

One of the major limitations for Atomic Force Microscopy (AFM) based nanoparticle pushing is that AFM only has one sharp tip as the end-effector. The interaction force between the nanoparticle and the tip is applied through a single point, which often leads the AFM tip to slip-away from the nanoparticle due to their small touch area. Then several minutes is needed to relocate the missed nanoparticle by a new image scan. Moreover, if the nanoparticle is very soft, the sharp tip may damage the particle instead of pushing it away due to the cutting effect of the sharp tip. In this paper, a nano-hand strategy is proposed to resolve this problem. Based on the theoretical analysis to the behavior model of nanoparticle, the pushing points, pushing step-length and pushing speed of AFM tip are planned artfully, through which a multi-tip manipulation effect can be imitated with a single tip. The nanoparticle is pushed as by a virtual nano-hand during manipulation,. In this way, the slip-away problem due to single AFM tip pushing can be get rid of efficiently. The simulation and experiments results show the increased effectiveness of AFM based nanomanipulation. ©2010 IEEE.

关键词： Atomic force microscopy

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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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Fast preparation of LiFePO4 nanoparticles for lithium batteries by microwave-assisted hydrothermal method

Fast preparation of LiFePO4 nanoparticles for lithium batter...

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作者： Yang, Gang Ji, Hongmei Liu, Haidong Huo, Kaifu Fu, Jijiang Chu, Paul K. Jiangsu Laboratory of Advanced Functional Material Department of Chemistry Changshu Institute of Technology Changshu 215500 China Hubei Province Key Laboratory of Refractories Ceramics Ministry-Province Jointly-Constructed Cultivation Base for State Key Laboratory Wuhan University of Science and Technology Wuhan 430081 China Department of Physics and Materials Science City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong

Nanomaterial for lithium batteries can decrease mechanical strain upon lithium intercalation/ deintercalation from lattice, and lead to high rate capability. The currently available microwave technology permits the development and implantation of a temperature-controlled microwave-assisted hydrothermal synthesis (TCMH) of nano-sized cathode material for lithium batteries. Unlike in previous reported traditional hydrothermal synthesis of cathode material LiFePO4, the pure phase of LiFePO4 can be simply and rapidly synthesized for 5 minutes in water under hydrothermal treatment with microwave irradiation. The homogeneous effects induced by microwave irradiation could create a uniform seeding condition. The colloid precursor Li 3PO4 plays the key role to be the nucle- ation center for the new phase while the formation energy for LiFePO4 would be decreased during the following microwave irradiation. The as-prepared pristine LiFePO4 without carbon coating are characterized by X-ray diffraction, Raman, scanning and transmission electron microscopy, and tested as the cathode in lithium batteries. The particle sizes of pristine LiFePO 4 are dependent on hydrothermal and microwave-assisted hydrothermal condition and the electrochemical performance are relatively determined. Copyright © 2010 American Scientific Publishers All rights reserved.

关键词： Iron compounds

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

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

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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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Elman dynamic neural network control for direct-drive feed system in advanced CNC machine tools

Elman dynamic neural network control for direct-drive feed s...

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International Conference on Computer, Mechatronics, Control and Electronic Engineering (CMCE)

作者： Jian-Min Zuo Chao Pan Mu-Lan Wang Wei Su School of Mechanical Engineering Jiangsu University Zhenjiang China Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China

Permanent Magnet Linear Synchronous Motors (PMLSM) are gaining increasing interest as direct-drive actuator for CNC machine tools. However, the servo control system of PMLSM is multi-variable, non-linear and strong-coupled and sensitizes to various force disturbances. For high speed and high precision to CNC machine tools, Elman dynamic Neural Network(NN) is introduced and the compound controller of Proportional(P) controller and Elman NN is proposed based on on-line training. Elman NN is trained by P controller at the beginning of control process. Then, speed loop of PMLSM servo system is controlled by Elman NN. The work process of proposed compound controller is exposed and dynamic characteristic of Elman NN is proved. The simulation results show that the proposed control scheme not only has strong robustness to uncertainties of the linear servo system, but also has good tracking precision and disturbance rejection abilities.

关键词： Artificial neural networks Robustness Adaptation model Robots

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Image Processing Techniques and Application of Water Transportation through the Fabrics

Image Processing Techniques and Application of Water Transpo...

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作者： Xiao-Yun Jiang Xiao-Hong Zhou Ming Weng Jing-Jing Zheng Yao-Xing Jiang Key Laboratory of Advanced Textile Materials & Manufacturing Technology Ministry of EducationZhejiang Sci-Tech University Jiangsu Provincial Key Laboratory of Silk Technology Soochow University

With the development of new synthetic fibres it is significant to study water transportation through the *** wicking test is usually used to understand this fabric *** the method for gaining parameters is still manual at *** paper will report an image processing techniques on water transportation through the *** images during wicking are shot every 1min in *** image can be divided into two areas to indicate fabric dry and ***,the wicking height can be calculated to understand water transportation through the *** the distortion of the vertical object image size far away from optical axis it is necessary to modify above wicking *** on the vertical wicking measurement for fabric,the modification method took the 300 mm height of the distortion image that was divided by 1 mm.A modifier formula was educed based on *** can improve the precision of wicking height obtained by image processing *** application example is also described in this *** fabrics were proved to have good water absorbing quality and moisture *** the curve of the wicking height based on image processing techniques,initial wicking rate can explain the water absorbing quality and the maximum wicking height used to illustrate moisture management.

关键词： image processing vertical measurement revising method moisture absorbable and breathable fabric

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Silicon Microgyroscope Based on SPLL and LMSD

Silicon Microgyroscope Based on SPLL and LMSD

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International Conference on Electrical and Control Engineering (ICECE)

作者： Dunzhu Xia Shourong Wang Xia Sheng Key laboratory of Micro-inertial Instrument and Advanced Navigation Technology Ministry of Education South-East University Nanjing Jiangsu China

To improve the performance of silicon micro-gyroscope (SMG), a digital measurement and control scheme of SMG with symmetrical and decoupled structure is presented. The system was constructed with a high-performance FPGA hardware core and several precision peripherals such as analog and digital hybrid conditioning circuits. Some key modules and algorithm realization including the closed-loop drive circuit based on automatic gain control (AGC) loop, software phase lock loop(SPLL) and the sense demodulation module based on least mean square demodulation (LMSD) are intensively addressed. The measurement results have fully demonstrated the stability and flexibility of the system.

关键词： Demodulation Gyroscopes Signal processing algorithms Field programmable gate arrays Accuracy Algorithm design and analysis Silicon

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A digital prototype miniature silicon microgyroscope

A digital prototype miniature silicon microgyroscope

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Dunzhu Xia Xia Sheng Shourong Wang Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education South-East University Nanjing Jiangsu China

关键词： Demodulation Voltage-controlled oscillators Phase locked loops Gyroscopes Signal processing algorithms Digital systems Silicon

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