A shape-feedback approach for more precise automatic nano manipulation process

The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI:10.1109/ICCIAUTOM.2011.6356792

S. Sadeghzadeh, M. Korayem, V. Rahneshin, A. Homayooni

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引用次数: 2

Abstract

One of the applications of nano-robots is the automatic nano-manipulation process. The experimental results indicate that nano-manipulations that are performed in a long time span are not very precise, and often the existence of different error sources, including the tip damage, causes these results to deviate from the intended outcome. In this article, by focusing on the phenomenon of tip damage in the automatic manipulation mechanism, a shape-feedback controller has been introduced to decrease the positioning errors. For this purpose, the tip's root mean squares (RMS) changes have been calculated to use as a criterion of deformation level of tip and particle. Presented shape-feedback controller is a simple and reliable procedure for a more accurate nano-manipulation. At the end, some comparisons are provided for RMS and positioning errors with and without shape-feedback. These comparisons show the applicability and potential of present approach as a controller in automatic nano-manipulation process. Decreasing the positioning errors from 37.77% to 17.77% is the most significant result of this paper.

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一种用于更精确自动纳米操作过程的形状反馈方法

纳米机器人的应用之一是自动纳米操作过程。实验结果表明，在长时间跨度内进行的纳米操作不是很精确，并且通常存在不同的误差源，包括尖端损伤，导致这些结果偏离预期结果。本文针对自动操作机构中的尖端损伤现象，引入了形状反馈控制器来减小定位误差。为此，计算了尖端的均方根(RMS)变化，作为尖端和颗粒变形水平的判据。所提出的形状反馈控制器是一种简单可靠的方法，可以实现更精确的纳米操作。最后对有和无形状反馈时的均方根误差和定位误差进行了比较。这些比较表明了本方法作为自动纳米操作过程控制器的适用性和潜力。将定位误差从37.77%降低到17.77%是本文最显著的结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The 2nd International Conference on Control, Instrumentation and Automation

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