Non-vector space control for nanomanipulations based on compressive feedbacks

Bo Song, Jianguo Zhao, Ning Xi, King Wai Chiu Lai, Ruiguo Yang, Hongzhi Chen, Chengeng Qu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations


AFM based nanomanipulations have been successfully applied in various areas such as physics, biology and so forth in nano scale. Traditional nanomanipulations always have to approach the problems such as hysteresis, nonlinearity and thermal drift of the scanner, and the noise brought by the position sensor. In this research, a compressive feedbacks based non-vector space control approach is proposed for improving the accuracy of AFM based nanomanipulations. Instead of sensors, the local image was used as the feedback to a non-vector space controller to generate a closed-loop control for manipulation. In this paper, there are four research topics: First, local scan strategy was used to get a local image. Second, since the feedback is an image, a non-vector space controller was designed to deal with the difficulty in vector space such as calibration and coordinate transformation. Third, in order to further decrease the time spent on local scan, compressive sensing was introduced to this system. Finally, to overcome the disadvantage that compressive sensing costs time on reconstructing the original signal, we directly use the compressive data as the feedback. Both theoretical analysis and experimental results have shown that the system has a good performance on AFM tip motion control. Therefore, the non-vector space control method can make visual servoing easier, and the compressive feedback could make a high speed real-time control of nanomanipulation possible. In addition, this new method can be applied to nano-assembly, nano-imaging and nanomanipulation.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781467314039
StatePublished - 2012
Externally publishedYes
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/TerritoryUnited States
CitySaint Paul, MN

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


Dive into the research topics of 'Non-vector space control for nanomanipulations based on compressive feedbacks'. Together they form a unique fingerprint.

Cite this