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题名: Virtual Nano-Hand: A Stable Pushing Strategy in AFM Based Sensorless Nanomanipulation
作者: Wang ZY(王智宇) ; Liu LQ(刘连庆) ; Hou J(侯静) ; Wang ZD(王志东) ; Yuan S(袁帅) ; Dong ZL(董再励)
作者部门: 机器人学研究室
会议名称: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期: December 7-11, 2011
会议地点: Phuket, Thailand
会议主办者: IEEE Robotics and Automation Society
会议录: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2011
页码: 1409-1414
收录类别: EI
ISBN号: 978-1-4577-2136-6
关键词: Force ; Mathematical model ; Probabilistic logic ; Resistance ; Substrates ; Trajectory ; Uncertainty
摘要: One of the prerequisites for AFM based nanomanipulation is that the position of the target nanoparticle can be stable controlled within a known area, while this prerequisite is still hindered by the uncertainties including the initial position of the nanoparticle and of the AFM tip, together with the uncertain forces from the substrate and so on. In this paper, a Stochastic Pushing (SP) model and a Stable Pushing Strategy are proposed respectively, which can push the nanoparticle into a bounded target area within a given probability. Simulations and experiment based on the proposed SP model demonstrate the validity of the Stable Pushing Strategy.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8943
Appears in Collections:机器人学研究室_会议论文

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