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AFM based anodic oxidation and its application to oxidative cutting and welding of CNT

Science China(Technological Sciences) 2009年第11期52卷 3149-3157页

作者： JIAO NianDong WANG YueChao XI Ning DONG ZaiLi State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering Michigan State UniversityEast Lansing 48824USA

Probe anodic oxidation by atomic force microscope (AFM) is one of the most important techniques in fabricating nano structures and devices. The technique was further studied in this paper. By analyzing the distribution of the electric field on substrate surface the dependence of oxide characters on field was discussed. The impacts of various parameters on oxide fabrication were experimentally studied. Based on these studies, we realized the oxidative cutting and welding of carbon nanotube (CNT) by the AFM based oxidation technique and provided a novel technique for the assembly and fabrication of CNT based nano devices.

关键词： anodic oxidation atomic force microscope nanofabrication cutting and welding carbon nanotube

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Compensation of drift contamination in AFM image by local scan

Compensation of drift contamination in AFM image by local sc...

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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Wang, Yucai Li, Guangyong Xi, Ning Liu, Lianqing Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA 15261 United States Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang Liaoning Province 110016 China

ISBN: (纸本)9781424426799

Thermal drift in atomic force microscopy (AFM) is one of the major hurdles to achieve accurate and efficient AFM based nanomanipulation. AFM images are all contaminated by the thermal drift which often leads to failed manipulation operations. In this paper, a local scan strategy is applied to identify the thermal drift contamination in the AFM image and then the draft contamination is compensated. After an AFM image is captured, the entire image is divided into several strips along y direction. A local scan is immediately performed in each part of the image to determine the drift at that portion. In this manner, the drift value is calculated in a small local area instead of the global image. Thus, the drift can be more precisely estimated and the image can be more accurately recovered, and thus leading to improved accuracy of AFM image and enhanced efficiency in AFM based nanomanipulation. © 2008 IEEE.

关键词： Atomic force microscopy

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Pose estimation of a volant platform with a monocular visuo-inertial system

Pose estimation of a volant platform with a monocular visuo-...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Nikolaos Kyriakoulis Evangelos Karakasis Antonios Gasteratos Angelos Amanatiadis Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

One of the serious problems in robotics applications is the estimation of the robot's pose. A lot of research effort has been put on finding the pose via inertial and proximity sensors. However, the last decades many systems adopt vision to estimate the pose, by using homographies and projection geometry. In this paper the pose estimation is achieved by the identification of a geometrically known platform from one camera and from the measurements of an inertial unit. The extended Kalman filter (EKF) is used for data fusion and error compensation. The novelty of this system is that the visual sensor and the inertial unit are mounted on different mobile systems. The proposed pose estimation system exhibits high accuracy in real-time.

关键词： Cameras Frequency estimation Robot vision systems Robot sensing systems Biosensors Laboratories computer vision Real time systems Image sensors Machine vision

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Dense disparity estimation using a hierarchical matching technique from uncalibrated stereo vision

Dense disparity estimation using a hierarchical matching tec...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： L. Nalpantidis A. Amanatiadis G. Sirakoulis N. Kyriakoulis A. Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

In motion estimation, the sub-pixel matching technique involves the search of sub-sample positions as well as integer-sample positions between the image pairs, choosing the one that gives the best match. Based on this idea, the proposed disparity estimation algorithm performs a 2-D correspondence search using a hierarchical search pattern. The disparity value is then defined using the distance of the matching position. Therefore, the proposed algorithm can process non-rectified stereo image pairs, maintaining the computational load within reasonable levels.

关键词： Stereo vision Motion estimation Cameras Robot vision systems Laboratories Pixel Layout Machine vision robotics and automation Production systems

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Compensation of drift contamination in AFM image by local scan

Compensation of drift contamination in AFM image by local sc...

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IEEE International Conference on robotics and Biomimetics

作者： Yucai Wang Guangyong Li Ning Xi Lianqing Liu Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA USA Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang Liaoning China

关键词： Contamination Atomic force microscopy Feedback USA Councils robotics and automation Thermal force Robots Biomimetics Laboratories Thermal engineering

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Accurate estimation of tip shape for reconstructing AFM image

Accurate estimation of tip shape for reconstructing AFM imag...

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IEEE Nanotechnology Materials and Devices Conference (NMDC)

作者： Shuai Yuan Lianqing Liu Lei Miao Zaili Dong Ning Xi Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University USA

AFM image is often distorted due to the influence of the tip shape. This problem has become one of the major obstacles in nano-observation. Therefore it is necessary to develop a compensation method to improve the quality of the AFM image. The common used method today is image reconstruction with deconvolution operator based on the tip shape built through blind tip estimation algorithm. However, the current algorithm has difficulties in getting the optimal noise threshold, which is essential for reducing the noise influence during the tip evaluation. This paper proposed a new method to solve this problem, through which the optimal threshold can be easily determined based on the comparison of tip section profile P alpha and tip standard profile P s . The experimental results validate the effect of the proposed method, and it also shows that the image quality has been greatly improved.

关键词： Shape Image reconstruction Noise shaping Semiconductor device noise Surface morphology Surface topography Biomedical measurements Pollution measurement USA Councils robotics and automation

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A Switched System Approach to Scheduling of Networked Control Systems with Communication Constraints

A Switched System Approach to Scheduling of Networked Contro...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Shi-Lu Dai Hai Lin Shuzhi Sam Ge the Key Laboratory of Integrated Automation of Process Industry Ministry of Education of ChinaNortheastern University the Department of Electrical and Computer Engineering National University of Singapore the Social Robotics Lab Interactive Digital Media Institute and the Department of Electrical and Computer EngineeringNational University of Singapore

This paper presents a scheduling strategy for a collection of discrete-time networked control systems（NCSs）subjected to communication constraints. Communication constraints under consideration include medium access constraint,network-induced delays and packet-dropouts. A feedback control system with the communication constraints is modelled as a switched delay system which switches on the open-loop and closed-loop models according to whether the feedback control loop gains access to the network or not. Delay-dependent sufficient conditions for exponential stability with L2 gain performance are developed for the switched system. Based on the stability conditions, sufficient conditions are presented on the existence of scheduling policy that simultaneously stabilizes the collection of NCSs. Simulation on network-based control of unstable batch reactor systems is performed to demonstrated the effectiveness of the proposed scheduling strategy.

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Semi-parametric adaptive control of discrete-time nonlinear systems

Semi-parametric adaptive control of discrete-time nonlinear ...

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IEEE International Conference on automation and Logistics

作者： Chenguang Yang Tianyou Chai Lianfei Zhai Shuzhi Sam Ge Tong Heng Lee Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Process Industry Automation Ministry of Education Research Center of Automation Northeastern University Shenyang China

In this paper, we investigate a novel adaptive design approach for nonlinear systems as an exploration of the new challenging topic on dealing with both parametric and nonparametric internal uncertainties in adaptive control of discrete-time nonlinear systems. The existence of both two kinds of uncertainties makes it very difficult or even impossible to apply the traditional recursive identification algorithms which are designed for parametric systems. To best utilize the existing adaptive control technique, a novel deadzone with threshold converging to zero has been proposed to modify the traditional gradient update law for parameters estimation, while an auxiliary output including both uncertainties is introduced to facilitate the nonparametric uncertainties compensation. It is rigorously proved that the designed adaptive control guarantees the boundedness of all the closed-loop signals and achieves asymptotic tracking performance.

关键词： Adaptive control Nonlinear systems Sampling methods Path planning Testing automation Road accidents Genetic algorithms Unmanned aerial vehicles Ant colony optimization

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A comparative study of invariant descriptors for shape retrieval

A comparative study of invariant descriptors for shape retri...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis V.G. Kaburlasos A. Gasteratos S.E. Papadakis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institute of Kavala Kavala Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a comparative study between scale, rotation and translation invariant descriptors for shape representation and retrieval. Specifically, we studied Fourier, angular radial transform and image moment descriptors for shape representation. Since shape is one of the most widely used image feature exploited in content-based image retrieval systems, we studied for each descriptor, the number of coefficients needed for indexing and their retrieval performance. Results showed that moment descriptors present the best performance in both terms of shape representation quality as well as in the amount of required coefficients.

关键词： Shape Fourier transforms Image retrieval Subspace constraints Laboratories Character recognition Content based retrieval Data mining computer industry Electrical products industry

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Robust Stability of Discrete-Time Switched Delay Systems and Its Application to Network-Based Reliable Control

Robust Stability of Discrete-Time Switched Delay Systems and...

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2009 American Control Conference (ACC 2009)

作者： Shi-Lu Dai Hai Lin Shuzhi Sam Ge Key Laboratory of Integrated Automation of Process Industry Ministry of Education of China Northeastern University Shenyang China 110004 Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Social Robotics Lab Interactive Digital Media Institute and the Department of Electrical and Computer Engineering National University of Singapore Singapore 117576

ISBN: (纸本)9781424445233

This paper addresses the problem of robust stability of discrete-time switched systems with time-varying delays and polytopic uncertainties. It is supposed that the switched systems are composed of both stable and unstable subsystems. Delay-dependent sufficient conditions for robust exponential stability are proposed by employing parameter-dependent piecewise Lyapunov-like functional combined with the free-weighting matrix and average dwell time methods. These sufficient conditions are applied in the study of stability analysis for a network-based reliable control system with controller failures, and the effectiveness of the analysis procedure is demonstrated with numerical simulation on network-based reliable control of cart-pendulum.

关键词： Robust stability Delay systems Control systems Switched systems Sufficient conditions Control system synthesis Time varying systems Uncertainty Delay effects Stability analysis

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