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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 ...

引用

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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Model identification and active modeling control for small-size unmanned helicopters: Theory and experiment

Model identification and active modeling control for small-s...

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AIAA Guidance, Navigation, and Control Conference

作者： Song, Dalei Qi, Juntong Han, Jianda State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences No.114 Nanta Street Shenyang Liaoning Province 110016 China Graduate School of CAS Beijing China

ISBN: (纸本)9781600869624

In this paper, a semi-decoupled state space model of a small-size helicopter is developed for hovering conditions in order to simplify the model identification process. An enhanced identification algorithm in frequency domain is proposed and implemented to estimate the parameters in the state space model using real flight data collected from a SERVOHELI-40 small-size unmanned helicopter. Based on adaptive set-membership filter and the built model, this paper also presents a strategy of model-error estimation and elimination to solve the impact of model mismatch in real flight. The accuracy of the identified model is verified by simulation in time domain, using a different set of hovering flight data. Using the identified model for hovering as the nominal model, the developed strategy is tested on SERVOHELI-40 UAV platform through real flight experimentation. The results have shown the accuracy of the developed semi-decoupled model and the effectiveness of the proposed optimal estimation algorithm in frequency domain, and that proposed strategy for the estimation and elimination of the model-error is feasible and practical for the flight control of unmanned helicopters in full flight envelope. Copyright © 2010 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Frequency domain analysis

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Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot

Configuration and tip-over stability analysis for stair-clim...

引用

International Conference on Mechatronics and Automation

作者： Yu, Suyang Wang, Ting Li, Xiaofan Yao, Chen Wang, Zhong Zhi, Di State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Nanta Street 114 Shenyang Liaoning Province China Graduate School Chinese Academy of Science Beijing China

ISBN: (纸本)9781424451418

In this paper, a wheelchair robot equipped with new-style variable-geometry-tracked mechanism is proposed. This new-style mechanism can adapt to convex terrain and turn to concave geometry by active control of track tension, based on which the terrain adaptability of the wheelchair robot is improved. Aiming at climbing stairs, the transformation rule of robot configuration is presented, the description of passenger's attitude and action is established. Following that, the tip-over stability analysis and simulation are performed with Force-Angle stability measure, and the variation of the tip-over stability margin of the robot under different conditions of passenger's attitude and action during stair-climbing is obtained. The analysis and simulation results provide a valid reference to the wheelchair robot's potential application. © 2010 IEEE.

关键词： Stairs

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Development of a guidance and control system for an underwater plume exploring AUV

Development of a guidance and control system for an underwat...

引用

World Congress on Intelligent Control and Automation (WCICA)

作者： Yu Tian Aiqun Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Beijing China

In recent years, adaptive and autonomous exploration of underwater plumes with autonomous underwater vehicles (AUVs) becomes a hot research topic, due to its significant applications. For the researches on AUV underwater plume exploring, design, optimization and validation of the control strategies and autonomous behaviors of the AUVs is the key issue. In order to study various control strategies and behaviors on an AUV platform, a stable and reliable low-level guidance and control system should be first designed. In this paper, we proposed a modular behavior-based control architecture, and addressed the design of the guidance module and kinematic variables control module which are the low-level part of the control architecture for an underwater plume exploring AUV. Simulation examples are presented, which demonstrate the good performance of the developed guidance and kinematic variables control system.

关键词： Control systems Vehicles Vehicle dynamics Navigation Kinematics Three dimensional displays Oceans

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Stereovision based obstacle detection approach for mobile robot navigation

Stereovision based obstacle detection approach for mobile ro...

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2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010

作者： Bai, Ming Zhuang, Yan Wang, Wei Research Center of Information and Control Dalian University of Technology Dalian Liaoning 116024 China State Key Laboratory of Robotics Institute of Automation Chinese Academy of Sciences Shenyang Liaoning 110016 China

ISBN: (纸本)9781424470488

An obstacle detection approach based on stereo vision is proposed for mobile robot navigation. The aim of the approach is to detect a real environment to allow a mobile robot to find a safe path even in complex scenarios. Our novelty is represented in terms of the two-stage perception structure. The detection stage infers the relationship between obstacles and a ground, and determines the region of interest. Based on this, the confirmation stage focuses on characterizing the contours and positions of obstacles and getting rid of most artefacts. The approach synthesizes the statistical information of projections and depth discontinuities in the region of interest to characterize obstacles. The detection-confirmation structure is robust to various lighting conditions, effective to negative obstacles, free to specular reflection effect, and real-time response to the interference from dynamic obstacles. Experimental results verified the effectiveness, reliability and real-time performance of the proposed approach. © 2010 IEEE.

关键词： Stereo vision

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VorSLAM: A new solution to simultaneous localization and mapping

VorSLAM: A new solution to simultaneous localization and map...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Guo, Shuai Ma, Shugen Li, Bin Sun, Rongchuan Wang, Yuechao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Robotics Ritsumeikan University 1-1-1 Noji-Higashi Kusatsu-Shi Shiga-Ken 525-8577 Japan Graduate School of the Chinese Academy of Sciences Beijing 100039 China

ISBN: (纸本)9781424457021

This paper presents a new solution to the problem of simultaneous localization and mapping (SLAM). Traditional extended Kalman filter (EKF) based SLAM (EKF-SLAM) algorithms describe unknown environments with simple geometric elements, such as points for landmarks. This limits the EKF-SLAM to environments suited to such models and tends to discard much potentially useful data. The solution proposed in this paper makes use of all the collected data and gives a more detailed description to the environment, which is a combination of EKF-SLAM and scan match. Landmarks are extracted from raw observations and their locations are estimated by using feature based EKF-SLAM. Around each landmark a local dense map of the environment is built. The landmarks and local maps together give a detailed and compact description of the environment. Voronoi division has been used to build local maps. It guarantees the local maps have none overlaps and have a proper metric scale. Experimental result demonstrates the efficiency of the algorithm. ©2010 IEEE.

关键词： Extended Kalman filters

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Modeling and analyzing nano-rod pushing with an AFM

Modeling and analyzing nano-rod pushing with an AFM

引用

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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Multiple-sensor indoor surveillance system based on hybrid network

Multiple-sensor indoor surveillance system based on hybrid n...

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2010 Second International Conference on Intelligent Human-Machine systems and Cybernetics(第二届智能人机系统与控制论国际学术会议 IHMSC 2010)

作者： Ruifeng Li ShiQiu Lijun Zhao State Key Laboratory of Robotics Harbin Institute of Technology Harbin 150081China

Since the aging population increasing and the acceleration of the life pace, more intelligent robots have been developed for health monitoring and home security. In this paper, we proposed a framework of indoor security information interactive system basing on Internet and GSM/GPRS hybrid network. On hardware, the system consists of several sub-systems: industrial computer, GSM/GPRS module, ultrasonic module, infrared module, photoelectric sensor module, motor driver and controller, video server module, environment detection module, CAN bus data acquisition card and CCD camera. We also achieved a network architecture on software including client, local server and robot console. A robot system is developed to verify the feasibility and efficiency of this architecture. The experiment results proved that the system can meet our expectations.

关键词： Security mobile robot hybrid network information interaction Client/Server mode modular design

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Construction of 3D structure with virus using AFM based nanorobot

Construction of 3D structure with virus using AFM based nano...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Changlin Liu, Lianqing Wang, Yuechao Xi, Ning Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School Chinese Academy of Sciences China Department of Electrical and Computer Engineering Michigan State University United States

ISBN: (纸本)9781424470334

Atomic Force Microscopy (AFM) is often considered as a manipulation tool only in 2D surface. Seldom documents report that it can transfer nano-objects in 3D space with high controllable precision. In this paper, we demonstrate that using developed AFM based nanorobot, viruses can be manipulated not only in 2D surface, but in 3D space. The experimental results show that a single virus can be picked up at a time and released to another special location by nanorobot. The theoretical analysis is presented to reveal the mechanism of a single virus' picking and releasing. A pyramidal structure is constructed with viruses to demonstrate the 3D manipulation capability of nanorobot. ©2010 IEEE.

关键词： Atomic force microscopy

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Improvement on obstacle avoiding ability based on laser range finder

Improvement on obstacle avoiding ability based on laser rang...

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IEEE International Conference on Mechatronics and Automation

作者： Fujun He Xiaolei Liu Zhijiang Du Yueyue Ta Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Mechanical Science and Technology Electrical Engineering Department Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

Mobile robot works in complicated environment have to deal with all kinds of obstacles, some obstacles may leave only a narrow way, and some obstacles moves quickly or arbitrarily, such as a child. The robot must improve its ability to quickly sensing the obstacles and tracking their state, and then avoid these obstacle and move to the original goal at the same time by motion planning. To improve the obstacle avoiding ability, a three layers obstacle avoiding policy is adopted to deal with the obstacle in different range. The dangerous obstacles are determined and the sub-goal based avoiding policy is presented. To improve the responding ability to moving object, a tracking model is set up, which takes into account the influence of moving platform. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented according to the collision estimation. The experiment shows good moving object avoiding result.

关键词： Collision avoidance Radar tracking Tracking Robot kinematics Covariance matrix Jacobian matrices

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