Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor
Identifieur interne :
000036 ( PascalFrancis/Curation );
précédent :
000035;
suivant :
000037
Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor
Auteurs : M. Sitti [
Japon] ;
H. HashimotoSource :
-
Advanced Robotics [ 0169-1864 ] ; 1999.
RBID : Pascal:00-0248655
Descripteurs français
English descriptors
- KwdEn :
- Atomic force microscopy,
Computer simulation,
Degrees of freedom (mechanics),
Human computer interaction,
Mathematical models,
Microrobotics,
Nanorobotics,
Remote control,
Reviews,
Robotics,
Sensors,
Telerobotics,
Virtual reality.
Abstract
In this paper, a tele-nanorobotic system using an atomic force microscope (AFM) as the nanorobot and sensor has been proposed. Modeling and control of the AFM cantilever, and modeling of nanometer scale forces have been realized for telemanipulation applications. In addition to three-dimensional virtual reality visual feedback in the user interface, a 1 d.o.f. haptic device has been constructed for nano-scale haptic sensing. For feeling the nano forces, a bilateral teleoperation control system with virtual impedance approach has been introduced. Initial experiments and simulations on the AFM and teleoperation system show that the system can be utilized for different tele-nanomanipulation applications such as two-dimensional nano particle assembly or biological object manipulation.
| pA |
| A01 | 01 | 1 | | @0 0169-1864 |
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| A03 | | 1 | | @0 Adv Rob |
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| A05 | | | | @2 13 |
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| A06 | | | | @2 4 |
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| A08 | 01 | 1 | ENG | @1 Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor |
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| A11 | 01 | 1 | | @1 SITTI (M.) |
|---|
| A11 | 02 | 1 | | @1 HASHIMOTO (H.) |
|---|
| A14 | 01 | | | @1 Univ of Tokyo @2 Tokyo @3 JPN @Z 1 aut. |
|---|
| A17 | 01 | 1 | | @1 The Robotics Society of Japan @3 INC @9 patr. |
|---|
| A20 | | | | @1 417-436 |
|---|
| A21 | | | | @1 1999 |
|---|
| A23 | 01 | | | @0 ENG |
|---|
| A43 | 01 | | | @1 INIST @2 21004 |
|---|
| A44 | | | | @0 A100 |
|---|
| A45 | | | | @0 20 Refs. |
|---|
| A47 | 01 | 1 | | @0 00-0248655 |
|---|
| A60 | | | | @1 P @2 C |
|---|
| A61 | | | | @0 A |
|---|
| A64 | 01 | 1 | | @0 Advanced Robotics |
|---|
| A66 | 01 | | | @0 NLD |
|---|
| C01 | 01 | | ENG | @0 In this paper, a tele-nanorobotic system using an atomic force microscope (AFM) as the nanorobot and sensor has been proposed. Modeling and control of the AFM cantilever, and modeling of nanometer scale forces have been realized for telemanipulation applications. In addition to three-dimensional virtual reality visual feedback in the user interface, a 1 d.o.f. haptic device has been constructed for nano-scale haptic sensing. For feeling the nano forces, a bilateral teleoperation control system with virtual impedance approach has been introduced. Initial experiments and simulations on the AFM and teleoperation system show that the system can be utilized for different tele-nanomanipulation applications such as two-dimensional nano particle assembly or biological object manipulation. |
|---|
| C02 | 01 | X | | @0 001D02D11 |
|---|
| C02 | 02 | X | | @0 001D12A |
|---|
| C02 | 03 | 3 | | @0 001B40B |
|---|
| C02 | 04 | X | | @0 001A02 |
|---|
| C02 | 05 | X | | @0 001D02B |
|---|
| C02 | 06 | X | | @0 001D03J03 |
|---|
| C03 | 01 | 1 | ENG | @0 Nanorobotics @4 INC |
|---|
| C03 | 02 | 1 | ENG | @0 Microrobotics @4 INC |
|---|
| C03 | 03 | 1 | ENG | @0 Telerobotics @4 INC |
|---|
| C03 | 04 | 1 | FRE | @0 Article synthèse |
|---|
| C03 | 04 | 1 | ENG | @0 Reviews |
|---|
| C03 | 05 | 1 | FRE | @0 Capteur |
|---|
| C03 | 05 | 1 | ENG | @0 Sensors |
|---|
| C03 | 06 | 1 | FRE | @0 Microscopie force atomique |
|---|
| C03 | 06 | 1 | ENG | @0 Atomic force microscopy |
|---|
| C03 | 07 | 1 | FRE | @0 Modèle mathématique |
|---|
| C03 | 07 | 1 | ENG | @0 Mathematical models |
|---|
| C03 | 08 | 1 | FRE | @0 Réalité virtuelle |
|---|
| C03 | 08 | 1 | ENG | @0 Virtual reality |
|---|
| C03 | 09 | 1 | FRE | @0 Relation homme machine |
|---|
| C03 | 09 | 1 | ENG | @0 Human computer interaction |
|---|
| C03 | 10 | 1 | FRE | @0 Degré liberté |
|---|
| C03 | 10 | 1 | ENG | @0 Degrees of freedom (mechanics) |
|---|
| C03 | 11 | 1 | FRE | @0 Télécommande |
|---|
| C03 | 11 | 1 | ENG | @0 Remote control |
|---|
| C03 | 12 | 1 | FRE | @0 Simulation ordinateur |
|---|
| C03 | 12 | 1 | ENG | @0 Computer simulation |
|---|
| C03 | 13 | 1 | FRE | @0 Robotique @3 P |
|---|
| C03 | 13 | 1 | ENG | @0 Robotics @3 P |
|---|
| N21 | | | | @1 171 |
|---|
|
|---|
| pR |
| A30 | 01 | 1 | ENG | @1 The 1998 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS'98) @3 Victoria, BC, Can @4 1998-10-13/1998-10-17 |
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|
|---|
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Le document en format XML
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<sZ>1 aut.</sZ>
</inist:fA14><country>Japon</country>
</affiliation><author><name sortKey="Hashimoto, H" sort="Hashimoto, H" uniqKey="Hashimoto H" first="H." last="Hashimoto">H. Hashimoto</name>
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<sZ>1 aut.</sZ>
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</affiliation><author><name sortKey="Hashimoto, H" sort="Hashimoto, H" uniqKey="Hashimoto H" first="H." last="Hashimoto">H. Hashimoto</name>
</author><series><title level="j" type="main">Advanced Robotics</title>
<title level="j" type="abbreviated">Adv Rob</title>
<idno type="ISSN">0169-1864</idno>
<imprint><date when="1999">1999</date>
</imprint><seriesStmt><title level="j" type="main">Advanced Robotics</title>
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<idno type="ISSN">0169-1864</idno>
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<term>Computer simulation</term>
<term>Degrees of freedom (mechanics)</term>
<term>Human computer interaction</term>
<term>Mathematical models</term>
<term>Microrobotics</term>
<term>Nanorobotics</term>
<term>Remote control</term>
<term>Reviews</term>
<term>Robotics</term>
<term>Sensors</term>
<term>Telerobotics</term>
<term>Virtual reality</term>
</keywords><keywords scheme="Pascal" xml:lang="fr"><term>Article synthèse</term>
<term>Capteur</term>
<term>Microscopie force atomique</term>
<term>Modèle mathématique</term>
<term>Réalité virtuelle</term>
<term>Relation homme machine</term>
<term>Degré liberté</term>
<term>Télécommande</term>
<term>Simulation ordinateur</term>
<term>Robotique</term>
</keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term>
<term>Robotique</term>
</keywords><front><div type="abstract" xml:lang="en">In this paper, a tele-nanorobotic system using an atomic force microscope (AFM) as the nanorobot and sensor has been proposed. Modeling and control of the AFM cantilever, and modeling of nanometer scale forces have been realized for telemanipulation applications. In addition to three-dimensional virtual reality visual feedback in the user interface, a 1 d.o.f. haptic device has been constructed for nano-scale haptic sensing. For feeling the nano forces, a bilateral teleoperation control system with virtual impedance approach has been introduced. Initial experiments and simulations on the AFM and teleoperation system show that the system can be utilized for different tele-nanomanipulation applications such as two-dimensional nano particle assembly or biological object manipulation.</div>
</front><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0169-1864</s0>
</fA01><fA03 i2="1"><s0>Adv Rob</s0>
</fA03><fA08 i1="01" i2="1" l="ENG"><s1>Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor</s1>
</fA08><fA11 i1="01" i2="1"><s1>SITTI (M.)</s1>
</fA11><fA11 i1="02" i2="1"><s1>HASHIMOTO (H.)</s1>
</fA11><fA14 i1="01"><s1>Univ of Tokyo</s1>
<s2>Tokyo</s2>
<s3>JPN</s3>
<sZ>1 aut.</sZ>
</fA14><fA17 i1="01" i2="1"><s1>The Robotics Society of Japan</s1>
<s3>INC</s3>
<s9>patr.</s9>
</fA17><fA20><s1>417-436</s1>
</fA20><fA21><s1>1999</s1>
</fA21><fA23 i1="01"><s0>ENG</s0>
</fA23><fA43 i1="01"><s1>INIST</s1>
<s2>21004</s2>
</fA43><fA44><s0>A100</s0>
</fA44><fA45><s0>20 Refs.</s0>
</fA45><fA47 i1="01" i2="1"><s0>00-0248655</s0>
</fA47><fA60><s1>P</s1>
<s2>C</s2>
</fA60><fA64 i1="01" i2="1"><s0>Advanced Robotics</s0>
</fA64><fA66 i1="01"><s0>NLD</s0>
</fA66><fC01 i1="01" l="ENG"><s0>In this paper, a tele-nanorobotic system using an atomic force microscope (AFM) as the nanorobot and sensor has been proposed. Modeling and control of the AFM cantilever, and modeling of nanometer scale forces have been realized for telemanipulation applications. In addition to three-dimensional virtual reality visual feedback in the user interface, a 1 d.o.f. haptic device has been constructed for nano-scale haptic sensing. For feeling the nano forces, a bilateral teleoperation control system with virtual impedance approach has been introduced. Initial experiments and simulations on the AFM and teleoperation system show that the system can be utilized for different tele-nanomanipulation applications such as two-dimensional nano particle assembly or biological object manipulation.</s0>
</fC01><fC02 i1="01" i2="X"><s0>001D02D11</s0>
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</fC02><fC02 i1="06" i2="X"><s0>001D03J03</s0>
</fC02><fC03 i1="01" i2="1" l="ENG"><s0>Nanorobotics</s0>
<s4>INC</s4>
</fC03><fC03 i1="02" i2="1" l="ENG"><s0>Microrobotics</s0>
<s4>INC</s4>
</fC03><fC03 i1="03" i2="1" l="ENG"><s0>Telerobotics</s0>
<s4>INC</s4>
</fC03><fC03 i1="04" i2="1" l="FRE"><s0>Article synthèse</s0>
</fC03><fC03 i1="04" i2="1" l="ENG"><s0>Reviews</s0>
</fC03><fC03 i1="05" i2="1" l="FRE"><s0>Capteur</s0>
</fC03><fC03 i1="05" i2="1" l="ENG"><s0>Sensors</s0>
</fC03><fC03 i1="06" i2="1" l="FRE"><s0>Microscopie force atomique</s0>
</fC03><fC03 i1="06" i2="1" l="ENG"><s0>Atomic force microscopy</s0>
</fC03><fC03 i1="07" i2="1" l="FRE"><s0>Modèle mathématique</s0>
</fC03><fC03 i1="07" i2="1" l="ENG"><s0>Mathematical models</s0>
</fC03><fC03 i1="08" i2="1" l="FRE"><s0>Réalité virtuelle</s0>
</fC03><fC03 i1="08" i2="1" l="ENG"><s0>Virtual reality</s0>
</fC03><fC03 i1="09" i2="1" l="FRE"><s0>Relation homme machine</s0>
</fC03><fC03 i1="09" i2="1" l="ENG"><s0>Human computer interaction</s0>
</fC03><fC03 i1="10" i2="1" l="FRE"><s0>Degré liberté</s0>
</fC03><fC03 i1="10" i2="1" l="ENG"><s0>Degrees of freedom (mechanics)</s0>
</fC03><fC03 i1="11" i2="1" l="FRE"><s0>Télécommande</s0>
</fC03><fC03 i1="11" i2="1" l="ENG"><s0>Remote control</s0>
</fC03><fC03 i1="12" i2="1" l="FRE"><s0>Simulation ordinateur</s0>
</fC03><fC03 i1="12" i2="1" l="ENG"><s0>Computer simulation</s0>
</fC03><fC03 i1="13" i2="1" l="FRE"><s0>Robotique</s0>
<s3>P</s3>
</fC03><fC03 i1="13" i2="1" l="ENG"><s0>Robotics</s0>
<s3>P</s3>
</fC03><fN21><s1>171</s1>
</fN21><pR><fA30 i1="01" i2="1" l="ENG"><s1>The 1998 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS'98)</s1>
<s3>Victoria, BC, Can</s3>
<s4>1998-10-13/1998-10-17</s4>
</fA30>
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