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Study of nano-manipulation approach based on the least action principle using AFM based robotic system
Yuan S(袁帅); Liu LQ(刘连庆); Wang ZD(王志东); Xi N(席宁); Wang YC(王越超)
作者部门机器人学研究室
会议名称36th Chinese Control Conference, CCC 2017
会议日期July 26-28, 2017
会议地点Dalian, China
会议主办者Dalian University of Technology ; Systems Engineering Society of China (SESC) ; Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议录名称Proceedings of the 36th Chinese Control Conference, CCC 2017
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2017
页码4424-4429
收录类别EI ; CPCI(ISTP)
EI收录号20174404320007
WOS记录号WOS:000432014405004
产权排序1
ISSN号1934-1768
ISBN号978-1-5386-2918-5
关键词Least Action Principle Afm Nano-manipulation
摘要

Atomic force microscopy (AFM) is originally used to observe the sample surface, and then extended to the area of nano-manipulation. It can be quite valuable in the further study of maneuvering nano-particles. Because of the influence of the tip morphology on the tip pushing direction, it is difficult to establish an effective operating model for stably manipulating nanoparticles with controllable manipulation results. To resolve this problem, the acting force of manipulating the nano-particle is analyzed firstly based on the least action principle. Then the influence of the contact point between the nano-particle and the tip is taken into account on the pushing direction, and manipulation of the nano-particle is modeled to predict its position after manipulation. Next, the model parameter is calibrated through several tests. Finally, the proposed model is verified by assembling the nano-structure. The experimental results illustrate that the model can effectively predict the nano-particle position after maneuvering, and can improve the manipulation efficiency.

语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21355
专题机器人学研究室
通讯作者Yuan S(袁帅)
作者单位1.State Key Lab. Robot., Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Shenyang Jianzhu University, Shenyang 110168, China
3.Graduate University, Chinese Academy of Sciences, Beijing 100039, China
4.Dept.of Advanced Robotics, Chiba Institute of Technology, Chiba 275-0016, Japan
5.Dept.of Industrial and Manufacturing Systems Engineering, Emerging Technologies Institute, University of Hong Kong, Hong Kong
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GB/T 7714
Yuan S,Liu LQ,Wang ZD,et al. Study of nano-manipulation approach based on the least action principle using AFM based robotic system[C]//Dalian University of Technology, Systems Engineering Society of China (SESC), Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA). Piscataway, NJ, USA:IEEE Computer Society,2017:4424-4429.
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