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题名: Nano-Manipulation Based on Real-Time Compressive Tracking
作者: Li GX(李恭新); Wang WX(王文学); Wang YC(王越超); Yuan S(袁帅); Yang WG(杨文广); Xi N(席宁); Liu LQ(刘连庆)
作者部门: 机器人学研究室
关键词: Nano-manipulation ; compressive sensing ; compressive tracking ; local imaging.
刊名: IEEE Transactions on Nanotechnology
ISSN号: 1536-125X
出版日期: 2015
卷号: 14, 期号:5, 页码:837-846
收录类别: SCI ; EI
产权排序: 1
项目资助者: National Natural Science Foundation of China under Grant 61327014 and Grant 61305125, the National High Technology Research and Development Program of China under Grant 2012AA020103, and the CAS/SAFEA International Partnership Program for Creative Research Teams.
摘要: Quick tracking in nano-manipulation has been attracting increasing attention among scientific researchers and engineers because it can significantly enhance the effectiveness and efficiency of nano-manipulation. The main reasons that hinder the improvement of accuracy and efficiency of nano-manipulation are the lack of effective real-time tracking and unavoidable perturbations by uncertainties and nonlinearities in the manipulation system. In this paper, we present a new strategy based on compressive sensing to realize quick real-time tracking nano-manipulation trajectory, and build a new kinematic model for objects to be manipulated to overcome the effect of tip positioning and contacting biases on nano-manipulation with AFM. With this approach, the deviation of the object from the predesigned trajectory during the manipulation can be corrected with up to two-thirds of time less than the traditional method, and the object can be smoothly moved to any destination in the nano-space. The approach requires no priori knowledge about the system, environment, and objects being manipulated. It is validated that this strategy works for both hard regular objects and soft irregular samples by experiments.
语种: 英语
WOS记录号: WOS:000364504200009
WOS标题词: Science & Technology ; Technology ; Physical Sciences
类目[WOS]: Engineering, Electrical & Electronic ; Nanoscience & Nanotechnology ; Materials Science, Multidisciplinary ; Physics, Applied
关键词[WOS]: ATOMIC-FORCE MICROSCOPE ; NANOMANIPULATION ; NANOPARTICLES
研究领域[WOS]: Engineering ; Science & Technology - Other Topics ; Materials Science ; Physics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/17447
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Li GX,Wang WX,Wang YC,et al. Nano-Manipulation Based on Real-Time Compressive Tracking[J]. IEEE Transactions on Nanotechnology,2015,14(5):837-846.
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