Detection and real-time correction of faulty visual feedback in atomic force microscopy based nanorobotic manipulation

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Detection and real-time correction of faulty visual feedback in atomic force microscopy based nanorobotic manipulation
	Liu LQ(刘连庆); Xi N(席宁); Luo, Yilun; Wang YC(王越超); Zhang JB(张江波); Li GY(李广勇)
	2008
会议名称	IEEE International Conference on Robotics and Automation
会议日期	May 19-23, 2008
会议地点	Pasadena, CA
页码	431-436
中文摘要	One of the main roadblocks to Atomic Force Microscope (AFM) based nanomanipulation is lack of real time visual feedback. Although the model based visual feedback can partly solve this problem, its unguaranteed reliability due to the inaccurate models in nano-environment still limits the efficiency of AFM based nanomanipulation. This paper introduce a Realtime Fault Detection and Correction (RFDC) method to improve the reliability of the visual feedback. By utilizing Kalman filter and local scan technologies, the RFDC method not only can realtime detect the fault display caused by the modeling error, but also can on-line correct it without interrupting manipulation. In this way, the visual feedback keeps consistent with the true environment changes during manipulation, which makes several operations being finished without a image scanning in between. The theoretical study and the implementation of the RFDC method are elaborated in this paper. Experiments of manipulating nano-particles have been carried out to demonstrate the effectiveness and efficiency of the proposed method.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE
会议录	2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISSN号	1050-4729
ISBN号	978-1-4244-1646-2
WOS记录号	WOS:000258095000068
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8645]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu LQ,Xi N,Luo, Yilun,et al. Detection and real-time correction of faulty visual feedback in atomic force microscopy based nanorobotic manipulation[C]. 见:IEEE International Conference on Robotics and Automation. Pasadena, CA. May 19-23, 2008.