DocumentCode :
2420854
Title :
Non-vector space control for nanomanipulations based on compressive feedbacks
Author :
Song, Bo ; Zhao, Jianguo ; Xi, Ning ; Lai, King Wai Chiu ; Yang, Ruiguo ; Chen, Hongzhi ; Qu, Chengeng
Author_Institution :
Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
2767
Lastpage :
2772
Abstract :
AFM based nanomanipulations have been successfully applied in various areas such as physics, biology and so forth in nano scale. Traditional nanomanipulations always have to approach the problems such as hysteresis, nonlinearity and thermal drift of the scanner, and the noise brought by the position sensor. In this research, a compressive feedbacks based non-vector space control approach is proposed for improving the accuracy of AFM based nanomanipulations. Instead of sensors, the local image was used as the feedback to a non-vector space controller to generate a closed-loop control for manipulation. In this paper, there are four research topics: First, local scan strategy was used to get a local image. Second, since the feedback is an image, a non-vector space controller was designed to deal with the difficulty in vector space such as calibration and coordinate transformation. Third, in order to further decrease the time spent on local scan, compressive sensing was introduced to this system. Finally, to overcome the disadvantage that compressive sensing costs time on reconstructing the original signal, we directly use the compressive data as the feedback. Both theoretical analysis and experimental results have shown that the system has a good performance on AFM tip motion control. Therefore, the non-vector space control method can make visual servoing easier, and the compressive feedback could make a high speed real-time control of nanomanipulation possible. In addition, this new method can be applied to nano-assembly, nano-imaging and nanomanipulation.
Keywords :
atomic force microscopy; closed loop systems; compressed sensing; feedback; image reconstruction; image scanners; motion control; AFM tip motion control; AFM-based nanomanipulations; closed-loop control; compressive feedbacks-based nanomanipulations; compressive sensing; feedback compressive data; high speed real-time control; image feedback; local image; local scan strategy; local scan time spent; nanoassembly; nanoscale; nonvector space control; nonvector space controller; position sensor; scanner thermal drift; vector space; visual servoing; Aerospace electronics; Compressed sensing; Image coding; Nanobioscience; Trajectory; Vectors; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6225338
Filename :
6225338
Link To Document :
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