HapticV1, PascalFrancis, Corpus, bibRecord, 000675

Teleoperated 3-D Force Feedback From the Nanoscale With an Atomic Force Microscope

Identifieur interne : 000675 ( PascalFrancis/Corpus ); précédent : 000674; suivant : 000676

Teleoperated 3-D Force Feedback From the Nanoscale With an Atomic Force Microscope

Auteurs : Cagdas Denizel Onal ; Metin Sitti

Source :

IEEE transactions on nanotechnology [ 1536-125X ] ; 2010.

RBID : Pascal:10-0096187

Descripteurs français

Pascal (Inist)
- Rétroaction, Echelle nanométrique, Microscopie force atomique, Surface contact, Découplage, Algorithme, Modèle empirique, Frottement, Système en ligne, Evaluation performance, Commande adaptative, Pointe microscope, Interaction pointe surface, Robotique, Télémanipulation, Nanomanipulation.

English descriptors

KwdEn :
- Adaptive control, Algorithm, Atomic force microscopy, Contact surface, Decoupling, Empirical model, Feedback regulation, Friction, Microscope tip, Nanomanipulation, Nanometer scale, On-line systems, Performance evaluation, Remote handling, Robotics, Tip surface interaction.

Abstract

In this study, 3-D experimental teleoperated force feedback during contact with nanoscale surfaces is demonstrated using an atomic force microscope (AFM) on the slave side and a haptic device on the master side. To achieve 3-D force feedback, coupling between one of the horizontal forces and the vertical force is a crucial bottleneck. To solve this coupling issue, a novel force decoupling algorithm is proposed. This algorithm uses local surface slopes, an empirical friction force model, and the haptic device motion angle projected onto the surface to estimate the friction value during experiments. With this estimation, it is possible to decouple the three orthogonal forces acting on the tip of the AFM cantilever. Moreover, using an adaptive observer, parameters of the friction model can be changed online, removing the necessity to calibrate the friction model initially. Finally, a modified passivity-based bilateral control is used to reflect the scaled nanoscale forces to the master side and the operator. The performance of the system is demonstrated on experimental results for flat and non-flat, and hard and soft surfaces.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A11	`01`	`1`		`@1 ONAL (Cagdas Denizel)`
A11	`02`	`1`		`@1 SITTI (Metin)`
A14	`01`			`@1 NanoRobotics Laboratory, Department of Mechanical Engineering, Carnegie Mellon University @2 Pittsburgh, PA 15213 @3 USA @Z 1 aut.`
A14	`02`			`@1 NanoRobotics Laboratory, Department of Mechanical Engineering and Robotics Institute, Carnegie Mellon University @2 Pittsburgh, PA 15213 @3 USA @Z 2 aut.`
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A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 27310 @5 354000189224100060`
A44				`@0 0000 @1 © 2010 INIST-CNRS. All rights reserved.`
A45				`@0 27 ref.`
A47	`01`	`1`		`@0 10-0096187`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 IEEE transactions on nanotechnology`
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C01	`01`		`ENG`	@0 In this study, 3-D experimental teleoperated force feedback during contact with nanoscale surfaces is demonstrated using an atomic force microscope (AFM) on the slave side and a haptic device on the master side. To achieve 3-D force feedback, coupling between one of the horizontal forces and the vertical force is a crucial bottleneck. To solve this coupling issue, a novel force decoupling algorithm is proposed. This algorithm uses local surface slopes, an empirical friction force model, and the haptic device motion angle projected onto the surface to estimate the friction value during experiments. With this estimation, it is possible to decouple the three orthogonal forces acting on the tip of the AFM cantilever. Moreover, using an adaptive observer, parameters of the friction model can be changed online, removing the necessity to calibrate the friction model initially. Finally, a modified passivity-based bilateral control is used to reflect the scaled nanoscale forces to the master side and the operator. The performance of the system is demonstrated on experimental results for flat and non-flat, and hard and soft surfaces.
C02	`01`	`X`		`@0 001D02D11`
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C03	`01`	`X`	`ENG`	`@0 Feedback regulation @5 01`
C03	`01`	`X`	`SPA`	`@0 Retroacción @5 01`
C03	`02`	`3`	`FRE`	`@0 Echelle nanométrique @5 02`
C03	`02`	`3`	`ENG`	`@0 Nanometer scale @5 02`
C03	`03`	`X`	`FRE`	`@0 Microscopie force atomique @5 03`
C03	`03`	`X`	`ENG`	`@0 Atomic force microscopy @5 03`
C03	`03`	`X`	`SPA`	`@0 Microscopía fuerza atómica @5 03`
C03	`04`	`X`	`FRE`	`@0 Surface contact @5 04`
C03	`04`	`X`	`ENG`	`@0 Contact surface @5 04`
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C03	`05`	`X`	`ENG`	`@0 Decoupling @5 05`
C03	`05`	`X`	`SPA`	`@0 Desacoplamiento @5 05`
C03	`06`	`X`	`FRE`	`@0 Algorithme @5 06`
C03	`06`	`X`	`ENG`	`@0 Algorithm @5 06`
C03	`06`	`X`	`SPA`	`@0 Algoritmo @5 06`
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C03	`08`	`X`	`FRE`	`@0 Frottement @5 08`
C03	`08`	`X`	`ENG`	`@0 Friction @5 08`
C03	`08`	`X`	`SPA`	`@0 Frotamiento @5 08`
C03	`09`	`3`	`FRE`	`@0 Système en ligne @5 09`
C03	`09`	`3`	`ENG`	`@0 On-line systems @5 09`
C03	`10`	`X`	`FRE`	`@0 Evaluation performance @5 10`
C03	`10`	`X`	`ENG`	`@0 Performance evaluation @5 10`
C03	`10`	`X`	`SPA`	`@0 Evaluación prestación @5 10`
C03	`11`	`X`	`FRE`	`@0 Commande adaptative @5 11`
C03	`11`	`X`	`ENG`	`@0 Adaptive control @5 11`
C03	`11`	`X`	`SPA`	`@0 Control adaptativo @5 11`
C03	`12`	`X`	`FRE`	`@0 Pointe microscope @5 12`
C03	`12`	`X`	`ENG`	`@0 Microscope tip @5 12`
C03	`12`	`X`	`SPA`	`@0 Punta microscopio @5 12`
C03	`13`	`X`	`FRE`	`@0 Interaction pointe surface @5 13`
C03	`13`	`X`	`ENG`	`@0 Tip surface interaction @5 13`
C03	`13`	`X`	`SPA`	`@0 Interacción punta superficie @5 13`
C03	`14`	`X`	`FRE`	`@0 Robotique @5 14`
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C03	`15`	`3`	`ENG`	`@0 Remote handling @5 15`
C03	`16`	`X`	`FRE`	`@0 Nanomanipulation @4 CD @5 96`
C03	`16`	`X`	`ENG`	`@0 Nanomanipulation @4 CD @5 96`
N21				`@1 060`

Format Inist (serveur)

NO :	PASCAL 10-0096187 INIST
ET :	Teleoperated 3-D Force Feedback From the Nanoscale With an Atomic Force Microscope
AU :	ONAL (Cagdas Denizel); SITTI (Metin)
AF :	NanoRobotics Laboratory, Department of Mechanical Engineering, Carnegie Mellon University/Pittsburgh, PA 15213/Etats-Unis (1 aut.); NanoRobotics Laboratory, Department of Mechanical Engineering and Robotics Institute, Carnegie Mellon University/Pittsburgh, PA 15213/Etats-Unis (2 aut.)
DT :	Publication en série; Niveau analytique
SO :	IEEE transactions on nanotechnology ; ISSN 1536-125X; Etats-Unis; Da. 2010; Vol. 9; No. 1; Pp. 46-54; Bibl. 27 ref.
LA :	Anglais
EA :	In this study, 3-D experimental teleoperated force feedback during contact with nanoscale surfaces is demonstrated using an atomic force microscope (AFM) on the slave side and a haptic device on the master side. To achieve 3-D force feedback, coupling between one of the horizontal forces and the vertical force is a crucial bottleneck. To solve this coupling issue, a novel force decoupling algorithm is proposed. This algorithm uses local surface slopes, an empirical friction force model, and the haptic device motion angle projected onto the surface to estimate the friction value during experiments. With this estimation, it is possible to decouple the three orthogonal forces acting on the tip of the AFM cantilever. Moreover, using an adaptive observer, parameters of the friction model can be changed online, removing the necessity to calibrate the friction model initially. Finally, a modified passivity-based bilateral control is used to reflect the scaled nanoscale forces to the master side and the operator. The performance of the system is demonstrated on experimental results for flat and non-flat, and hard and soft surfaces.
CC :	001D02D11
FD :	Rétroaction; Echelle nanométrique; Microscopie force atomique; Surface contact; Découplage; Algorithme; Modèle empirique; Frottement; Système en ligne; Evaluation performance; Commande adaptative; Pointe microscope; Interaction pointe surface; Robotique; Télémanipulation; Nanomanipulation
ED :	Feedback regulation; Nanometer scale; Atomic force microscopy; Contact surface; Decoupling; Algorithm; Empirical model; Friction; On-line systems; Performance evaluation; Adaptive control; Microscope tip; Tip surface interaction; Robotics; Remote handling; Nanomanipulation
SD :	Retroacción; Microscopía fuerza atómica; Superficie contacto; Desacoplamiento; Algoritmo; Modelo empírico; Frotamiento; Evaluación prestación; Control adaptativo; Punta microscopio; Interacción punta superficie; Robótica
LO :	INIST-27310.354000189224100060
ID :	10-0096187

Links to Exploration step

Pascal:10-0096187

Le document en format XML

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<server><NO>PASCAL 10-0096187 INIST</NO>
<ET>Teleoperated 3-D Force Feedback From the Nanoscale With an Atomic Force Microscope</ET>
<AU>ONAL (Cagdas Denizel); SITTI (Metin)</AU>
<AF>NanoRobotics Laboratory, Department of Mechanical Engineering, Carnegie Mellon University/Pittsburgh, PA 15213/Etats-Unis (1 aut.); NanoRobotics Laboratory, Department of Mechanical Engineering and Robotics Institute, Carnegie Mellon University/Pittsburgh, PA 15213/Etats-Unis (2 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>IEEE transactions on nanotechnology ; ISSN 1536-125X; Etats-Unis; Da. 2010; Vol. 9; No. 1; Pp. 46-54; Bibl. 27 ref.</SO>
<LA>Anglais</LA>
<EA>In this study, 3-D experimental teleoperated force feedback during contact with nanoscale surfaces is demonstrated using an atomic force microscope (AFM) on the slave side and a haptic device on the master side. To achieve 3-D force feedback, coupling between one of the horizontal forces and the vertical force is a crucial bottleneck. To solve this coupling issue, a novel force decoupling algorithm is proposed. This algorithm uses local surface slopes, an empirical friction force model, and the haptic device motion angle projected onto the surface to estimate the friction value during experiments. With this estimation, it is possible to decouple the three orthogonal forces acting on the tip of the AFM cantilever. Moreover, using an adaptive observer, parameters of the friction model can be changed online, removing the necessity to calibrate the friction model initially. Finally, a modified passivity-based bilateral control is used to reflect the scaled nanoscale forces to the master side and the operator. The performance of the system is demonstrated on experimental results for flat and non-flat, and hard and soft surfaces.</EA>
<CC>001D02D11</CC>
<FD>Rétroaction; Echelle nanométrique; Microscopie force atomique; Surface contact; Découplage; Algorithme; Modèle empirique; Frottement; Système en ligne; Evaluation performance; Commande adaptative; Pointe microscope; Interaction pointe surface; Robotique; Télémanipulation; Nanomanipulation</FD>
<ED>Feedback regulation; Nanometer scale; Atomic force microscopy; Contact surface; Decoupling; Algorithm; Empirical model; Friction; On-line systems; Performance evaluation; Adaptive control; Microscope tip; Tip surface interaction; Robotics; Remote handling; Nanomanipulation</ED>
<SD>Retroacción; Microscopía fuerza atómica; Superficie contacto; Desacoplamiento; Algoritmo; Modelo empírico; Frotamiento; Evaluación prestación; Control adaptativo; Punta microscopio; Interacción punta superficie; Robótica</SD>
<LO>INIST-27310.354000189224100060</LO>
<ID>10-0096187</ID>
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Teleoperated 3-D Force Feedback From the Nanoscale With an Atomic Force Microscope

Teleoperated 3-D Force Feedback From the Nanoscale With an Atomic Force Microscope

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