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Path Planning and Design for AFM based Nano-manipulation using Probability Distribution
Yuan S(袁帅)1,2; Liu LQ(刘连庆)1; Wang ZD(王志东)1; Xing, Jingyi2; Xi N(席宁)1; Wang YC(王越超)1
作者部门机器人学研究室
会议名称IEEE International Conference on Cyborg and Bionic Systems (CBS)
会议日期October 17-19, 2017
会议地点Beijing, China
会议主办者IEEE, IEEE Robot & Automat Soc, IEEE Computat Intelligence Soc, Beijing Inst Technol, IEEE Syst Man & Cybernet Soc, IEEE Engn Med & Biol Soc, IEEE Robot & Automat Soc Tech Comm Neuro Robot Syst
会议录名称2017 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS (CBS)
出版者IEEE
出版地New York
2017
页码188-193
收录类别CPCI(ISTP)
WOS记录号WOS:000426790400038
产权排序1
ISBN号978-1-5386-3194-2
关键词Afm Trajectory Planning Nanomanipulation Ant Colony Optimization Dijkstra's Algorithm
摘要

In AFM nanomanipulation, the uncertainty of tip position in the task space can lead to inefficient nanomanipulation. To resolve this problem, the paper proposes a method which uses the local scan to obtain the observation distance. Then the landmark adjacency matrix is established for designing the observed landmarks. Next, colony optimization and Dijkstra's Algorithm are used to plan the tip trajectory, which reduces the cost greatly. Finally, the experiment results illustrate that the proposed algorithm can perform effective nano-manipulation.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22058
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
推荐引用方式
GB/T 7714
Yuan S,Liu LQ,Wang ZD,et al. Path Planning and Design for AFM based Nano-manipulation using Probability Distribution[C]//IEEE, IEEE Robot & Automat Soc, IEEE Computat Intelligence Soc, Beijing Inst Technol, IEEE Syst Man & Cybernet Soc, IEEE Engn Med & Biol Soc, IEEE Robot & Automat Soc Tech Comm Neuro Robot Syst. New York:IEEE,2017:188-193.
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