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Article: Task Space Motion Control for AFM-Based Nanorobot Using Optimal and Ultralimit Archimedean Spiral Local Scan

TitleTask Space Motion Control for AFM-Based Nanorobot Using Optimal and Ultralimit Archimedean Spiral Local Scan
Authors
KeywordsAutomation at micro-nano scales
micro/nano robots
motion control
visual servoing
Issue Date2020
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE
Citation
IEEE Robotics and Automation Letters, 2020, v. 5 n. 2, p. 282-289 How to Cite?
AbstractAtomic force microscopy (AFM) based nanorobotic technology provides a unique manner for delicate operations at the nanoscale in various ambient, thanks to its ultrahigh spatial resolution, outstanding environmental adaptability, and numerous measurement approaches. However, one vital challenge behind nanoscale operations is the task space positioning problem, known for its difficulty to realize desirable relative position between the AFM sharp tip and the target. It is noted that although one AFM possesses nanometer imaging resolution, it is hard to achieve nanometer positioning accuracy due to system uncertainties, such as the uncompensated nonlinearity and the thermal drift generated internally/externally. In order to tackle the vital positioning problem in the space, this letter proposes a specific visual servoing control framework using a local ambient image as feedback to overcome positioning uncertainty at the nanoscale. In this letter, we employ the optimal Archimedean spiral scanning strategy and try to exceed the speed criterion to pursue faster and uniform local scan for generating feedback images. To fulfill reliable precise tip locating with the possible non-ideal feedback images, a type of visual servoing control approach i.e., extended non-vector space (ENVS) controller based on the subset projection method, was developed for tackling environmental noise and disturbances. Experimental studies were conducted to verify the effectiveness of the proposed task space tip locating methodology. Testing results demonstrated that the positioning uncertainty was attenuated dramatically, and 1 nm level positioning precision has been achieved for the 500 nm × 500 nm task space.
Persistent Identifierhttp://hdl.handle.net/10722/282919
ISSN
2019 Impact Factor: 3.608

 

DC FieldValueLanguage
dc.contributor.authorSun, Z-
dc.contributor.authorXi, N-
dc.contributor.authorXUE, Y-
dc.contributor.authorCHENG, Y-
dc.contributor.authorCHEN, L-
dc.contributor.authorYANG, R-
dc.contributor.authorSONG, B-
dc.date.accessioned2020-06-05T06:23:04Z-
dc.date.available2020-06-05T06:23:04Z-
dc.date.issued2020-
dc.identifier.citationIEEE Robotics and Automation Letters, 2020, v. 5 n. 2, p. 282-289-
dc.identifier.issn2377-3766-
dc.identifier.urihttp://hdl.handle.net/10722/282919-
dc.description.abstractAtomic force microscopy (AFM) based nanorobotic technology provides a unique manner for delicate operations at the nanoscale in various ambient, thanks to its ultrahigh spatial resolution, outstanding environmental adaptability, and numerous measurement approaches. However, one vital challenge behind nanoscale operations is the task space positioning problem, known for its difficulty to realize desirable relative position between the AFM sharp tip and the target. It is noted that although one AFM possesses nanometer imaging resolution, it is hard to achieve nanometer positioning accuracy due to system uncertainties, such as the uncompensated nonlinearity and the thermal drift generated internally/externally. In order to tackle the vital positioning problem in the space, this letter proposes a specific visual servoing control framework using a local ambient image as feedback to overcome positioning uncertainty at the nanoscale. In this letter, we employ the optimal Archimedean spiral scanning strategy and try to exceed the speed criterion to pursue faster and uniform local scan for generating feedback images. To fulfill reliable precise tip locating with the possible non-ideal feedback images, a type of visual servoing control approach i.e., extended non-vector space (ENVS) controller based on the subset projection method, was developed for tackling environmental noise and disturbances. Experimental studies were conducted to verify the effectiveness of the proposed task space tip locating methodology. Testing results demonstrated that the positioning uncertainty was attenuated dramatically, and 1 nm level positioning precision has been achieved for the 500 nm × 500 nm task space.-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE-
dc.relation.ispartofIEEE Robotics and Automation Letters-
dc.rightsIEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectAutomation at micro-nano scales-
dc.subjectmicro/nano robots-
dc.subjectmotion control-
dc.subjectvisual servoing-
dc.titleTask Space Motion Control for AFM-Based Nanorobot Using Optimal and Ultralimit Archimedean Spiral Local Scan-
dc.typeArticle-
dc.identifier.emailXi, N: xining@hku.hk-
dc.identifier.authorityXi, N=rp02044-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/LRA.2019.2955942-
dc.identifier.scopuseid_2-s2.0-85076919280-
dc.identifier.hkuros310073-
dc.identifier.volume5-
dc.identifier.issue2-
dc.identifier.spage282-
dc.identifier.epage289-
dc.publisher.placeUnited States-

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