HapticV1, PascalFrancis, Corpus, bibRecord, 000C72

Task-based and stable telenanomanipulation in a nanoscale virtual environment : Nanoscale automation and assembly

Identifieur interne : 000C72 ( PascalFrancis/Corpus ); précédent : 000C71; suivant : 000C73

Task-based and stable telenanomanipulation in a nanoscale virtual environment : Nanoscale automation and assembly

Auteurs : Sung-Gaun Kim ; Metin Sitti

Source :

IEEE transactions on automation science and engineering [ 1545-5955 ] ; 2006.

RBID : Pascal:06-0394528

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.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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Format Inist (serveur)

NO :	PASCAL 06-0394528 INIST
ET :	Task-based and stable telenanomanipulation in a nanoscale virtual environment : Nanoscale automation and assembly
AU :	KIM (Sung-Gaun); SITTI (Metin)
AF :	Mechanical and Automotive Engineering Department, Kongju National University/Kongju 314-701/Corée, République de (1 aut.); Mechanical Engineering Department and Robotics Institute, Carnegie Mellon University/Pittsburgh, PA 15213/Etats-Unis (2 aut.)
DT :	Publication en série; Courte communication, note brève; Niveau analytique
SO :	IEEE transactions on automation science and engineering; ISSN 1545-5955; Etats-Unis; Da. 2006; Vol. 3; No. 3; Pp. 240-247; Bibl. 20 ref.
LA :	Anglais
EA :	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.
CC :	001D02B04; 001D02D11; 001D12I; 001B00G10C
FD :	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
ED :	User interface; Nanotechnology; Positioning; Man machine relation; Precision engineering; Robotics; Nanostructure; Virtual reality; Tactile sensitivity; Fidelity; Remote operation; Scale factor; Absolute stability; Indentation; Artificial intelligence; Nanometer scale; Position control; Atomic force microscopy; Experimental study; Biology
SD :	Interfase usuario; Nanotecnología; Posicionamiento; Relación hombre máquina; Mecánica precisión; Robótica; Nanoestructura; Realidad virtual; Sensibilidad tactil; Fidelidad; Teleacción; Factor escala; Estabilidad absoluta; Indentación; Inteligencia artificial; Regulación de la posición; Microscopía fuerza atómica; Estudio experimental; Biología
LO :	INIST-21023B.354000138988050060
ID :	06-0394528

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Pascal:06-0394528

Le document en format XML

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<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>
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<s5>09</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Mécanique précision</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Precision engineering</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Mecánica precisión</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Robotique</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Robotics</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Robótica</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Nanostructure</s0>
<s5>18</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Nanostructure</s0>
<s5>18</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Nanoestructura</s0>
<s5>18</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Réalité virtuelle</s0>
<s5>19</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Virtual reality</s0>
<s5>19</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Realidad virtual</s0>
<s5>19</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>20</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>20</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Fidélité</s0>
<s5>21</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Fidelity</s0>
<s5>21</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Fidelidad</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>22</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Remote operation</s0>
<s5>22</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Teleacción</s0>
<s5>22</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Facteur échelle</s0>
<s5>23</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Scale factor</s0>
<s5>23</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Factor escala</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Stabilité absolue</s0>
<s5>24</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Absolute stability</s0>
<s5>24</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Estabilidad absoluta</s0>
<s5>24</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Indentation</s0>
<s5>25</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Indentation</s0>
<s5>25</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Indentación</s0>
<s5>25</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Intelligence artificielle</s0>
<s5>26</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Artificial intelligence</s0>
<s5>26</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Inteligencia artificial</s0>
<s5>26</s5>
</fC03>
<fC03 i1="16" i2="3" l="FRE"><s0>Echelle nanométrique</s0>
<s5>27</s5>
</fC03>
<fC03 i1="16" i2="3" l="ENG"><s0>Nanometer scale</s0>
<s5>27</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Commande position</s0>
<s5>28</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Position control</s0>
<s5>28</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Regulación de la posición</s0>
<s5>28</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Microscopie force atomique</s0>
<s5>33</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Atomic force microscopy</s0>
<s5>33</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Microscopía fuerza atómica</s0>
<s5>33</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>34</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>34</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>34</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Biologie</s0>
<s5>41</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Biology</s0>
<s5>41</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Biología</s0>
<s5>41</s5>
</fC03>
<fN21><s1>261</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 06-0394528 INIST</NO>
<ET>Task-based and stable telenanomanipulation in a nanoscale virtual environment : Nanoscale automation and assembly</ET>
<AU>KIM (Sung-Gaun); SITTI (Metin)</AU>
<AF>Mechanical and Automotive Engineering Department, Kongju National University/Kongju 314-701/Corée, République de (1 aut.); Mechanical Engineering Department and Robotics Institute, Carnegie Mellon University/Pittsburgh, PA 15213/Etats-Unis (2 aut.)</AF>
<DT>Publication en série; Courte communication, note brève; Niveau analytique</DT>
<SO>IEEE transactions on automation science and engineering; ISSN 1545-5955; Etats-Unis; Da. 2006; Vol. 3; No. 3; Pp. 240-247; Bibl. 20 ref.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D02B04; 001D02D11; 001D12I; 001B00G10C</CC>
<FD>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</FD>
<ED>User interface; Nanotechnology; Positioning; Man machine relation; Precision engineering; Robotics; Nanostructure; Virtual reality; Tactile sensitivity; Fidelity; Remote operation; Scale factor; Absolute stability; Indentation; Artificial intelligence; Nanometer scale; Position control; Atomic force microscopy; Experimental study; Biology</ED>
<SD>Interfase usuario; Nanotecnología; Posicionamiento; Relación hombre máquina; Mecánica precisión; Robótica; Nanoestructura; Realidad virtual; Sensibilidad tactil; Fidelidad; Teleacción; Factor escala; Estabilidad absoluta; Indentación; Inteligencia artificial; Regulación de la posición; Microscopía fuerza atómica; Estudio experimental; Biología</SD>
<LO>INIST-21023B.354000138988050060</LO>
<ID>06-0394528</ID>
</server>
</inist>
</record>

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Task-based and stable telenanomanipulation in a nanoscale virtual environment : Nanoscale automation and assembly

Task-based and stable telenanomanipulation in a nanoscale virtual environment : Nanoscale automation and assembly

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