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题名: Real-time Position Error Detecting in Nano-manipulation Using Kalman Filter
作者: Liu LQ(刘连庆) ; Xi N(席宁) ; Luo, Yilun ; Zhang JB(张江波) ; Li GY(李广勇)
作者部门: 机器人学研究室
会议名称: 7th IEEE Conference on Nanotechnology
会议日期: August 2-5, 2007
会议地点: Hong Kong, China
会议主办者: IEEE, IEEE Nanotechnol Council, IEEE Electron Devices Soc, Chinese Univ Hong Kong, Ctr Micro & Nano Syst, ETH, Inst Robot & Intelligent Syst, GETI, KC Wong Educ Fdn, US Army Int Technol Ctr, ACS NANO, CRC Press, Taylor & Francis Grp, intel
会议录: 2007 7TH IEEE CONFERENCE ON NANOTECHNOLOGY, VOL 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 100-105
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0607-4
摘要: The main roadblock 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, due to the complication of nano environment, it is difficult to accurately describe the behavior of nano-objects with a model. The modeling error will lead to an inaccurate feedback and a failed manipulation. In this paper, a Kalman filter is developed to real time detect this modeling error. During manipulation, the residual between the estimated behavior and the visual display behavior is real time updated. The residual's Mahalanobis distance is calculated and compared with an threshold to determine whether there is a position error. Once the threshold is exceeded, an alarm signal will be triggered to tell the system there is a position error. Furthermore, the position error can be on-line corrected by local scan method. With the assistance of Kalman filter and local scan, the position error not only can be real-time detected, but also can be online corrected. The visual display keeps matching with the real manipulation result during the whole manipulation process, which significantly improve the efficiency of the AFM based nano-assembly. Experiments of manipulating nano-particles are presented to verify the effectiveness of Kalman filter and local scan method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8841
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
刘连庆; 席宁; Luo, Yilun; 张江波; 李广勇.Real-time Position Error Detecting in Nano-manipulation Using Kalman Filter.见:IEEE .2007 7TH IEEE CONFERENCE ON NANOTECHNOLOGY, VOL 1-3,NEW YORK,2007,100-105
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