Task-based and stable telenanomanipulation in a nanoscale virtual environment : Nanoscale automation and assembly
Identifieur interne : 006030 ( Main/Exploration ); précédent : 006029; suivant : 006031Task-based and stable telenanomanipulation in a nanoscale virtual environment : Nanoscale automation and assembly
Auteurs : Sung-Gaun Kim [Corée du Sud] ; Metin Sitti [États-Unis]Source :
- IEEE transactions on automation science and engineering [ 1545-5955 ] ; 2006.
Descripteurs français
- Pascal (Inist)
- Interface utilisateur, Nanotechnologie, Positionnement, Relation homme machine, Mécanique précision, Robotique, Nanostructure, Réalité virtuelle, Sensibilité tactile, Fidélité, Téléopération, Facteur échelle, Stabilité absolue, Indentation, Intelligence artificielle, Echelle nanométrique, Commande position, Microscopie force atomique, Etude expérimentale, Biologie.
- Wicri :
English descriptors
- KwdEn :
- Absolute stability, Artificial intelligence, Atomic force microscopy, Biology, Experimental study, Fidelity, Indentation, Man machine relation, Nanometer scale, Nanostructure, Nanotechnology, Position control, Positioning, Precision engineering, Remote operation, Robotics, Scale factor, Tactile sensitivity, User interface, Virtual reality.
Abstract
In a haptic interface system with a nanoscale virtual environment (NVE) using an atomic force microscope, not only is stability important, but task-based performance (or fidelity) is crucial. In this paper, we introduce a nanoscale virtual coupling (NSVC) concept and explicitly derive the relationship between performance, stability, and scaling factors of velocity (or position) and force. An available scaling factor region is represented based on Llewellyn's absolute stability criteria and the physical limitation of the haptic device. For the stable haptic interface, the sampled time passivity controller is implemented in the NVE. Experiments have been performed for telenanomanipulation tasks, such as positioning, indenting, and nanolithography with guaranteed stability in the NVE. Note to Practitioners-This paper suggests methods and control schemes for the task-based and stable telenanomanipulation in the nanoscale virtual environment (NVE). The proposed task-based and stable telenanomanipulation in the NVE can be used for an augmented human machine interface for the manipulation of nanoscale objects with the atomic force microscope (AFM). In addition, it is beneficial for learning or performing nanoscale tasks, such as nanolithography, nanoindenting, nanofabrication, and cell manipulation. Also, the interaction with the NVE using haptic device provides a useful tool for researchers in a variety of disciplines, such as biology, chemistry, and physics. Moreover, it may even be applied to educational purposes. In future research, the developed stable haptic interface would be integrated with the AFM system as a slave manipulator for telenanomanipulation experiments, such as pushing a nanoparticle with precise positioning and nanoassembly.
Affiliations:
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sensitivity</term><term>User interface</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Interface utilisateur</term><term>Nanotechnologie</term><term>Positionnement</term><term>Relation homme machine</term><term>Mécanique précision</term><term>Robotique</term><term>Nanostructure</term><term>Réalité virtuelle</term><term>Sensibilité tactile</term><term>Fidélité</term><term>Téléopération</term><term>Facteur échelle</term><term>Stabilité absolue</term><term>Indentation</term><term>Intelligence artificielle</term><term>Echelle nanométrique</term><term>Commande position</term><term>Microscopie force atomique</term><term>Etude expérimentale</term><term>Biologie</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Nanotechnologie</term><term>Robotique</term><term>Réalité virtuelle</term><term>Intelligence artificielle</term><term>Biologie</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In a haptic interface system with a nanoscale virtual environment (NVE) using an atomic force microscope, not only is stability important, but task-based performance (or fidelity) is crucial. In this paper, we introduce a nanoscale virtual coupling (NSVC) concept and explicitly derive the relationship between performance, stability, and scaling factors of velocity (or position) and force. An available scaling factor region is represented based on Llewellyn's absolute stability criteria and the physical limitation of the haptic device. For the stable haptic interface, the sampled time passivity controller is implemented in the NVE. Experiments have been performed for telenanomanipulation tasks, such as positioning, indenting, and nanolithography with guaranteed stability in the NVE. Note to Practitioners-This paper suggests methods and control schemes for the task-based and stable telenanomanipulation in the nanoscale virtual environment (NVE). The proposed task-based and stable telenanomanipulation in the NVE can be used for an augmented human machine interface for the manipulation of nanoscale objects with the atomic force microscope (AFM). In addition, it is beneficial for learning or performing nanoscale tasks, such as nanolithography, nanoindenting, nanofabrication, and cell manipulation. Also, the interaction with the NVE using haptic device provides a useful tool for researchers in a variety of disciplines, such as biology, chemistry, and physics. Moreover, it may even be applied to educational purposes. In future research, the developed stable haptic interface would be integrated with the AFM system as a slave manipulator for telenanomanipulation experiments, such as pushing a nanoparticle with precise positioning and nanoassembly.</div></front></TEI><affiliations><list><country><li>Corée du Sud</li><li>États-Unis</li></country><region><li>Pennsylvanie</li></region><orgName><li>Université Carnegie-Mellon</li></orgName></list><tree><country name="Corée du Sud"><noRegion><name sortKey="Kim, Sung Gaun" sort="Kim, Sung Gaun" uniqKey="Kim S" first="Sung-Gaun" last="Kim">Sung-Gaun Kim</name></noRegion></country><country name="États-Unis"><region name="Pennsylvanie"><name sortKey="Sitti, Metin" sort="Sitti, Metin" uniqKey="Sitti M" first="Metin" last="Sitti">Metin Sitti</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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