Research On AFM Robotize Nanomanipulation In A Wide Range Of Nano-environment

In recent years,nanomanipulation is more and more widely applied in our life,and Atomic Force Microscope(AFM)as a tool for basic nanomanipulation is widely used.AFM as a tool for observation and operation at nanoscale.And AFM plays an important role in different multidisciplinary analysis,such as physics,chemistry,biology and other fields.Using AFM to push nanoparticles has been further studied by many researchers.In the procedure of pushing nanoparticles by AFM,there are many uncertain factors in the operating environment include drift and PZT nonlinearity,which can influence the location accuracy of AFM's tip and the stability of nanolanipulation.Due to the positioning error of the tip,it is difficult to deterxnine the effective contact point between the tip and nanoparticles.Meanwhile,the nanomanipulation results are not controllable to reduce the etficiency nano-manipulation.There are still many problems need to be solved in the procedure of pushing nanoparticles by AFM.This paper first analyzes nanomanipulation model and other related researches at domestic and abroad.And the robotization nanomanipulation model is established.The work description of this paper is as following.First in order to solve the problem of tip can not be accurately positioned in the nano-malipulation,this paper refers to the multi-robot cooperation and proposes to describes the uncertainty of tip position as probabilistic distribution,and larks nanoparticles in the task space as landmarks.Then establishes a local scan based landmark observation model.At the same time,establishes tip motion models by combining PI model of PZT,temperature drift model and creep model.Based on these models,tip position can be optinially estimated by using Kalman filter algorithm.Based on the accurate positioning of the tip,obtains the path planned of the tip.To make the distance to be shortest in the process of tip's moving.Next aiming at the problem of stability and efficiency of nanomanipulation,analyzing the pushing force of nanoparticle,using the least action principle to estimate the position of the particles in different time.The moving trajectories of-particles is simulated.Refer to the Caging strategy in multi-robot cooperation,making the tip moving as Z.Forming a virtual nano-hand to tinish parallel and fixed posture nanomanipulation.Then in view of the problem of AFM scanning range is limited and the scope of nanomanipulation environment is larger.Using the AFM to scan the environment and get many environment images.Using Image preprocessing method to finish image processing.Detecting and matching the feature points in two images by using SURF.According to the feature points to finish image mosaicking,in order to restore nanomanipulation environment map.Finally,the simulation experiment is earried out to verify.The feasibility of the path planning method is verified by planning the motion path of the tip in the directional case and non-directional case.The comparison between the traditional nanomanipulation method and the Z-shape nanomanipulation method proves that the Z-shape nanomanipulation method can increase the operational stability.And simulation experiments show SURF algorithm can realize map reconstruction of nanomanipulation environment.The method is verified by simulation experiment,the application of AFM machine humanizing micro/nano technology to operate with a role in promoting.