Real-time Position Error Detecting in Nano-manipulation Using Kalman Filter
文献类型：会议论文
| 作者 | Liu LQ(刘连庆) ; Luo, Yilun; Zhang JB(张江波); Li GY(李广勇)
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| 出版日期 | 2007 |
| 会议日期 | August 2-5, 2007 |
| 会议地点 | Hong Kong, China |
| 页码 | 100-105 |
| 英文摘要 | 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. |
| 源文献作者 | 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 |
| 产权排序 | 1 |
| 会议录 | 2007 7TH IEEE CONFERENCE ON NANOTECHNOLOGY, VOL 1-3
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0607-4 |
| WOS记录号 | WOS:000261434900022 |
| 源URL | [http://ir.sia.cn/handle/173321/8841]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Liu LQ(刘连庆) |
| 作者单位 | 1.Robotic Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Dept.of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, United States 3.Dept.of Electrical and Computer Engineering, University of Pittsburgh, Pittsburgh, PA, United States 4.Graduate School of Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Liu LQ,Luo, Yilun,Zhang JB,et al. Real-time Position Error Detecting in Nano-manipulation Using Kalman Filter[C]. 见:. Hong Kong, China. August 2-5, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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