CN1757591A - Real-time force sense and visual image man-machine interaction method and system based on nanometer operation - Google Patents
Real-time force sense and visual image man-machine interaction method and system based on nanometer operation Download PDFInfo
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Abstract
The invention discloses a real-time force sense and visual image interaction method and system based on nano operation, which combines a multi-degree-of-freedom electromechanical device with force sense, an image simulation interface and a nano operation device to provide force sense and visual feedback for an operator, which are not possessed by the prior nano operation. The operator can not only control the operation of the nanometer operation device in real time through the multi-degree-of-freedom electromechanical device, but also feel the acting force between the nanometer operation device and the operated object in the operation process, and see the operation condition in real time through the image simulation interface. The interactive system is provided with a bridge between the micro world and the macro world, so that the operation on the objects in the micro world is as convenient and flexible as the operation on the objects in the macro world. The nano operation is closer to the actual situation, the efficiency of the nano operation is greatly improved, and a road is opened up for the large-scale nano operation and assembly.
Description
Technical field
The present invention relates to the operation under the nanoscale and the nanosecond science and technology of processing, specifically a kind of real-time force sense and visual image man-machine interaction method and system based on nano-manipulation.
Background technology
Nanoscale science and technology is emerging section's scientific research field.Operation under the nanoscale is the important component part of nanosecond science and technology with processing.Only under exercisable prerequisite, could study the natural characteristics such as various physics, chemistry of material under the nanoscale, could develop nano-device, the technical equipment that nano-sensor and nanocomputer etc. are advanced.Therefore, nano-manipulation is the focus in current micro-nano scientific and technological forward position.But the existing equipment that is used for nanotechnology research is based on the equipment of SPM (tunnel current scanning or atomic force scanning imagery) mechanism substantially.This kind equipment (as SPM) lacks real-time force feedback information, visual feedback information and interactive capability, thereby can only carry out the nanometer phenomenon observation of off-line scan planning, can not carry out the nanoscale operation of man-machine interaction mode.Thereby the man-machine interactive nano-manipulation technology of research and development with real-time power and visual feedback information has the meaning of particular importance.
Summary of the invention
In order to realize the man-machine interactive operation under the nanoscale, the invention provides a kind of real-time force sense and visual image man-machine interaction method and system based on nano-manipulation.
Technical solution of the present invention is as follows:
Real-time force sense and visual image man-machine interaction method based on nano-manipulation: nano-manipulation device and the multiple degrees of freedom electromechanical assembly with power sense are combined, realize running by multiple degrees of freedom electromechanical assembly control nano-manipulation device; Information by photoelectric sensor in the nano-manipulation device and the scan-probe cantilever beam is carried out dynamic analysis, obtain acting on the active force model of scanning probe tip, in human-computer interaction interface, utilize the image of this power model and the kinetic model real-time update scanning that is operated object, and then dynamically show the process of nano-manipulation; Workflow based on the point to point link of udp protocol, the multiple degrees of freedom electromechanical assembly real time perception of operating personnel by having the power sense in the true working scene probe and the interaction force between object, and operate in the case, on graphical interfaces, observe manually-operated result simultaneously.
The inventive method system for use in carrying: the nano-manipulation device is input as the position signalling of multiple degrees of freedom electromechanical assembly, be output as the deformation signal of scan-probe, be connected to signal processing system, signal processing system is output as the force signal of representing the probe tip active force, sends the multiple degrees of freedom electromechanical assembly with power sense again to; The multiple degrees of freedom electromechanical assembly is output as position signalling, the command signal that will be converted into the running of control nano-manipulation device via signal processing system inputs to the nano-manipulation device, simultaneously, position signalling that signal processing system will be by the multiple degrees of freedom electromechanical assembly and the emulating image that is operated the motion model real-time update of thing are passed to the image simulation interface.
The present invention has following advantage:
A, adopt the method for the invention, microcosmic active force that can't perception can be converted to macroforce, and by having the multiple degrees of freedom electromechanical assembly output of power sense, make the operator can experience 3D operating physical force (size and Orientation) in the nanometer environment in real time.
B, employing the present invention are under the visual simulating figure instructs, and the operator can utilize homework graphics prompting the carrying out nanoscale operation of real-time update intuitively in the nanometer environment.
C, adopt operator of the present invention to carry out the man-machine interactive nano-manipulation down, improved the flexibility and the efficient of operating greatly the auxiliary of force feedback and visual feedback.
Description of drawings
Fig. 1 is a system architecture schematic diagram of the present invention.
Fig. 2 has multiple degrees of freedom electromechanical assembly (Phantom) structural representation of power sense for one embodiment of the invention.
Fig. 3 is the detailed structure schematic diagram of the described system of Fig. 1.
Fig. 4 is the Dynamic Modeling of nanoscale rod-like articles of the present invention.
Fig. 5 is the workflow diagram of one embodiment of the invention based on the point to point link of udp protocol.
The program flow diagram that Fig. 6 a transmits for the one embodiment of the invention force feedback.
Fig. 6 b is the program flow diagram of one embodiment of the invention Position Control and image update.
Fig. 7 is an one embodiment of the invention image simulation interface program flow chart.
The specific embodiment
Embodiment 1
As shown in Figure 1, this man-machine interactive system mainly contains nano-manipulation device, signal processing system, image simulation interface and multiple degrees of freedom electromechanical assembly and forms, the nano-manipulation device is passed to signal processing system with the deformation signal of its probe, signal processing system is translated into the force signal of representing the probe tip active force, sends the multiple degrees of freedom electromechanical assembly with power sense again to; After the position signalling of multiple degrees of freedom electromechanical assembly is converted into the control command of control nano-manipulation device running via signal processing system, input to the nano-manipulation device, simultaneously, signal processing system by the multiple degrees of freedom electromechanical assembly position signalling and be operated the motion model real-time update emulating image of thing, and updated images passed to the image simulation interface be used for showing.
Referring to Fig. 1～3, system of the present invention concrete structure is:
(present embodiment adopts commercial product such as the micro-AFM of atomic force (AtomicForce Microscope) to one nano-manipulation device, be used for carrying out nano scanning and operation, and to the signal of signal processing system conveyer middle probe deformation, and receive the control command that sends by the multiple degrees of freedom electromechanical assembly.
One signal processing system is used for conversion, processing and the transmission of force information and visual information.Receive the position signalling of multiple degrees of freedom electromechanical assembly, and the control command that is translated into the running of control nano-manipulation device sends the nano-manipulation device to through network, realize the synchronous operation of nano-manipulation device and multiple degrees of freedom electromechanical assembly; Simultaneously according to multiple degrees of freedom electromechanical assembly position signalling and be operated the motion model real-time update emulating image of thing, pass to the image simulation interface, make the operator on the image simulation interface, see the result of operation in real time; Accept the probe deformation signal that the nano-manipulation device transmits, be translated into the force signal of representing probe suffered, and send the multiple degrees of freedom electromechanical assembly to, make the operator experience power in operating process in real time by network.
One has the multiple degrees of freedom electromechanical assembly of power sense, link to each other with the nano-manipulation device by signal processing system, with realize by the multiple degrees of freedom electromechanical assembly control in real time the nano-manipulation device and running.
The multiple degrees of freedom electromechanical assembly of the wherein said power of having sense is for having the electromechanical assembly of syllogic operating grip 1 and electric system 2.Its input signal is the position signalling of operating grip 1, and electric system 2 is exported to signal processing system with position signalling; And accept the real-time force feedback information that the nano-manipulation device transmits by signal processing system.
Wherein said nano-manipulation device (AFM) is by laser instrument 3, photoelectric sensor 4, scan-probe 5, piezoelectric ceramic actuator 6 constitutes, wherein: scan-probe 5 is aimed at the sample of preadmission line scanning on piezoelectric ceramics, provide light source by laser instrument 3, photoelectric sensor 4 obtains scan-probe 5 deformation signals, change deformation signal into corresponding force signal by signal processing system, through the carrier computer A it is reached computer B by network, piezoelectric ceramic actuator 6 receives the control signal that transmits of multiple degrees of freedom electromechanical assemblies, the motion that produces relative probe, and then realize that probe desires the operation of carrying out.
This by nano-manipulation device, multiple degrees of freedom electromechanical assembly and image simulation interface with power sense constitute the man-machine interactive nanometer operating system, for the artificial intervention operation under the nanoscale and processing, assembling and manufacturing provide new feasibility technological approaches.
The inventive method and system have following function:
1, the generation of active force and perceptional function.Gather AFM system photo-sensor signal will in operation in real time, it is generated the corresponding signal of telecommunication under the effect of force resolution model, the Mechatronic Systems conversion of the multiple degrees of freedom electromechanical assembly through having the power sense generates the mechanical force on three directions of XYZ, this masterpiece be used in multiple degrees of freedom electromechanical assembly with power sense operating grip on, can make the operator experience each existence and size to operating physical force.
2, the visual image copying of nano-manipulation environment.Generate according to AFM type nano-manipulation device scanned picture and motion of objects model by information processing system, and according to operational motion signal real-time update, for the operator provides visual real-time operation graphic interface.Operate with the assistance operator, improve operating efficiency and performance accuracy.
3, interactive probe moving control function.The operator is to the operation (push away, draw, delineate, knock etc.) of the operating grip of multiple degrees of freedom electromechanical assembly, dynamoelectric signal conversion through the multiple degrees of freedom electromechanical assembly, the online nano-manipulation device AFM that is delivered to, the running of control piezoelectric ceramics, and then make probe produce corresponding three-dimensional motion.
The multiple degrees of freedom electromechanical assembly of the described power of having sense is multiple in the market, generally has the one or more free degree, and can provide force feedback at least in one direction, and present embodiment adopts the six degree of freedom Phantom of U.S. Sensable company
TMElectromechanically operated device, it can provide force feedback on X, Y, three directions of Z, its structure as shown in Figure 2, wherein: by first, second and third section action bars I, II, III form right angle coordinate system X, Y, Z three degree of freedom, its Mechatronic Systems output valve is the coordinate of three section operation bar III end at referential W, can produce active force in three directions of W.So promptly can realize three force feedbacks on the direction, again can the output function displacement, with as position control signal.
Described AFM can be in the nano scanning process, and the photosignal of reflection scan-probe stress and deformation is provided, this signal will as operating physical force in operating system as force feedback signal.
Described nano-manipulation flow process is:
1) by AFM sample is scanned, the master data of operating environment and object is provided, the initial graphics of generating run environmental simulation;
2) operator uses six degree of freedom Phantom by observing operating environment and Obj State
TMThe operating grip of Electromechanically operated device is operated, the carry-out bit shifting signal;
3) displacement signal is from six degree of freedom Phantom
TMElectromechanically operated device output is transferred to computer A by computer B explanation and by Ethernet;
4) computer A is converted into AFM Position Control amount with the digital quantity of described displacement signal, as the input signal of piezoelectric ceramics (PZT) driver;
5) described Position Control amount is input to and is added on the piezoelectric ceramics micromotion of control earthenware after piezoelectric ceramic actuator amplifies; Because the motion of earthenware changes scan-probe mounted thereto and the active force that is operated sample room, is connected to the input of photoelectric sensor;
6) after photoelectric sensor detects the deformation detection signal of the stressed generation of scan-probe, this power Information Monitoring is input to computer A by its routine processes;
7) computer A is transferred to computer B with this deformation detection signal after treatment by Ethernet;
8) in computer B, according to the cantilever beam stress deformation model of setting up it is interpreted as being subjected to force feedback signal, calculate and should output to six degree of freedom Phantom
TMThe size of the Electromechanically operated device signal of telecommunication according to the kinetic model of setting up that is operated object, calculates the athletic posture that is operated object simultaneously, upgrades operation scenario emulation interface;
9) six degree of freedom Phantom
TMElectromechanically operated device will be converted into mechanical force from the signal of telecommunication of computer B, output to action bars, feed back to the operator;
10) operator shows according to the vision at operation scenario graphical simulation interface, in conjunction with six degree of freedom Phantom
TMThe force information of Electromechanically operated device output, the online operation strategy of cooking up next step is got back to step 1 then; So repeatedly, finish smoothly up to nano-manipulation.
Wherein, signal processing system is by the computer A of control nano-manipulation device, and control has the computer B of the multiple degrees of freedom electromechanical assembly of power sense, and the transmission network of intercomputer and corresponding signal process program are formed.
The signal handler flow chart is as follows:
Shown in Fig. 6 a, force feedback convey program flow process: nano-manipulation device (AFM) adopts Finite Impulse Response filter that the voltage signal of the photoelectric sensor that obtains is removed power frequency the deformation signal of scan-probe and disturbs (making the signal that obtains truly reflect the voltage change situation of photoelectric sensor), pass to the computer A of control nano-manipulation device, computer A sends this deformation signal to computer B that control has the multiple degrees of freedom electromechanical assembly of power sense through network, and this deformation signal is converted into the force signal of representing probe suffered according to the relation of deformation and power, then this signal is inputed to multiple degrees of freedom electromechanical assembly, make the operator experience power in operating process in real time with power sense.Here used Finite Impulse Response filter becomes output sequence with the sequence of resulting probe deformation data signal by operation transform, and this FIR wave filter adopts the transform situation of operation function to be:
Wherein, h (n) is the unit impact response of system, and H (z) is a system function, and the difference equation expression formula of this function is:
Shown in Fig. 6 b, Position Control and image update program circuit are: the operator uses the multiple degrees of freedom electromechanical assembly to operate, when multiple degrees of freedom electromechanical assembly position changes, the position signalling of multiple degrees of freedom electromechanical assembly is passed to the computer B that control has the multiple degrees of freedom electromechanical assembly of power sense, computer B sends this position signalling to the computer of control nano-manipulation device (AFM) through network on the one hand, and the voltage signal that is converted to the running of control nano-manipulation device inputs to the nano-manipulation device, realization nano-manipulation device and the synchronous operation with multiple degrees of freedom electromechanical assembly of power sense; According to the motion model and the multiple degrees of freedom electromechanical assembly position signalling real-time update emulating image that are operated thing, pass to the image simulation interface simultaneously, make the operator on the emulation interface, see the result of operation in real time.
The signal transmission of aforesaid operations all has real-time with generating, thus the people operate in sensuously synchronously with action, thereby can realize having the man-machine interactive nano-manipulation of real-time force sense and visual image.
The needle point active force model of nano-manipulation device of the present invention (AFM) is: by the scan-probe cantilever beam is carried out Dynamic Modeling, and the active force model that acts on scanning probe tip that obtains, its expression formula is:
Wherein, F
x, F
y, F
zBe respectively the three-dimensional force that acts on the scanning probe tip, S
nThe expression cantilever beam is subjected to normal force F
zThe photoelectric sensor output signals of correspondence when effect produces vertical deformation down, S
lThe expression cantilever beam is subjected to tangential force F
lThe torsional capacity that is produced, l are the length of cantilever beam, and h is a length of needlepoint, K
lAnd K
nBe the system optics amplification coefficient, k is the cantilever beam coefficient of elasticity, k
lBe the coefficient of torsion of cantilever beam, φ is the angle of tangential force Fl and Fx.
The present invention is operated object (present embodiment is a rod-like articles), and to try hard to recommend moving kinetic model down outside be experiment according to promotion rod-like nano line, for the variation of scan image that can the real-time update human-computer interaction interface, modeling analysis has been carried out in the motion of nano wire.The force diagram of nano wire and base plane is at first determined the point of rotation S under the effect in it is outside as shown in Figure 4, and the formula of definite point of rotation S position of deriving is:
Among Fig. 4,
SBe the length of the point of rotation apart from the nano wire lower extreme point, 1 is the distance of the application point of external force F to the nano wire lower extreme point; Needle point can be expressed as the power that nano wire applies:
Again by the relation of frictional force as can be known frictional force be:
And then external force F can be expressed as:
By the foundation of above model, can in human-computer interaction interface, utilize the image of these model real-time update scannings, and then dynamically show the process of nano-manipulation.F wherein
Os rBe the repulsive force of scanning substrate to nano wire, F
Os aBe the adhesive force of scanning substrate to nano wire, μ
OsFor being the coefficient of friction between needle point and nano wire, v is the shearing force coefficient.
The present invention is based on the workflow (referring to Fig. 5) of the point to point link of udp protocol, realized being equipped with the direct communication of point-to-point of the intercomputer of the computer at man-machine interaction image simulation interface and the motion of gated sweep probe microscope, the process of server need not to connect, transmission speed is improved, has also improved the performance of system.The signal that wherein passes to the nano-manipulation device is the positional information of multiple degrees of freedom electromechanical assembly; Biography is the force feedback signal of scan-probe in operating process to the signal of operation interface.
As shown in Figure 7, the flow process at image simulation interface is: the operator chooses with multiple degrees of freedom electromechanical assembly (present embodiment Phantom) in the image simulation interface and is operated thing, and carries out corresponding operating with Phantom, as pushes away, and draws operations such as delineation.The image simulation interface program is according to the positional information of Phantom and be operated the motion model of thing in the nanometer environment and calculate and be operated the new position coordinates of thing, the real-time update emulating image, and it is shown on the image simulation interface.And then the operator can see in real time and is operated the motion conditions of thing under operator control.
Novelty of the present invention is:
1. multiple degrees of freedom electromechanical assembly and the image simulation interface and nano-manipulation device phase that will have the power sense Connect, built the man-machine interactive system based on nano-manipulation. This interactive system provides power for the operator Feel and visual feedback, make the operator control in real time nano-manipulation by multivariant electromechanical assembly The running of device, and experience in the operating process probe tip in the nano-manipulation device with by operating article Between active force, see in real time simultaneously the situation of operation by the image simulation interface. This interactive system makes Nano-manipulation is more pressed close to and reality, has greatly improved the efficient of nano-manipulation.
2. realized that effective filtering computational methods can be a large amount of in containing of photoelectric testing sensor output Effectively carry out the probe deformation signal in the signal of interference noise and extract, and then can be translated into spy The force signal that pin is suffered is experienced this probe and by the active force between operating article in real time for the operator.
3. designed and Implemented the visual operation ring based on nano-manipulation device (AFM) scanning information Border-realtime graphic Simulation Interface. By this image simulation interface, the operator can see in real time by The moving situation of operating article under operator's control. So that to the operation of object in the microcosmos as right The operation of object is the same in the reality macrocosm, and that this is in the past nano-manipulation is not available. Logical Cross this image simulation interface, so that more convenient to operate under nano environment more show consideration for and be bordering on reality, And then greatly improved the efficient of operation.
4. realized the Kinematic Model of operand, make in the image simulation interface by the fortune of operating article Moving situation is consistent with the moving situation of real-world object in the nano-manipulation environment.
5. based on udp protocol, and be the ethernet communication software of point to point operation mode, solved Command signal and feedback information in real time logical between operation system information process computer system in the operating process The query topic.
In a word, by above-mentioned technological development and innovation work, just can the nano-manipulation device (as AFM), the nanometer operation horizontal of multiple degrees of freedom electromechanical assembly (such as Phantom), computer system formation Realize existing real-time vision feedback on the platform, the nano-manipulation of Real-time force feedback is arranged again.
Claims (4)
1. real-time force sense and visual image man-machine interaction method based on a nano-manipulation, it is characterized in that: nano-manipulation device and the multiple degrees of freedom electromechanical assembly with power sense are combined, realize running by multiple degrees of freedom electromechanical assembly control nano-manipulation device; Information by photoelectric sensor in the nano-manipulation device and the scan-probe cantilever beam is carried out dynamic analysis, obtain acting on the active force model of scanning probe tip, in human-computer interaction interface, utilize the image of this power model and the kinetic model real-time update scanning that is operated object, and then dynamically show the process of nano-manipulation; Workflow based on the point to point link of udp protocol, the multiple degrees of freedom electromechanical assembly real time perception of operating personnel by having the power sense in the true working scene probe and the interaction force between object, and operate in the case, on graphical interfaces, observe manually-operated result simultaneously.
2. according to claim 1 described real-time force sense and visual image man-machine interaction method based on nano-manipulation, it is characterized in that: concrete nano-manipulation flow process is as follows:
1) by the nano-manipulation device sample is scanned, the master data of operating environment and object is provided, the initial graphics of generating run environmental simulation;
2) operator uses the operating grip of the multiple degrees of freedom electromechanical assembly with power sense to operate the carry-out bit shifting signal by observing operating environment and Obj State;
3) displacement signal is transferred to computer from the output of multiple degrees of freedom electromechanical assembly by computer B explanation and by Ethernet;
4) computer A is converted into nano-manipulation setting position controlled quentity controlled variable with the digital quantity of described displacement signal, as the input signal of piezoelectric ceramic actuator;
5) described Position Control amount is input to and is added on the piezoelectric ceramics micromotion of control earthenware after piezoelectric ceramic actuator amplifies; Because the motion of earthenware changes scan-probe mounted thereto and the active force that is operated sample room, is connected to the input of photoelectric sensor;
6) after photoelectric sensor detects the deformation detection signal of the stressed generation of scan-probe, this power Information Monitoring is input in the computer A, by its routine processes;
7) computer A is transferred to computer B with deformation detection signal after treatment by Ethernet;
8) in computer B, according to the cantilever beam stress deformation model of setting up it is interpreted as being subjected to force feedback signal, calculate the size that should output to the multiple degrees of freedom electromechanical assembly signal of telecommunication, simultaneously according to the kinetic model of setting up that is operated object, calculate the athletic posture that is operated object, upgrade operation scenario emulation interface;
9) the multiple degrees of freedom electromechanical assembly will be converted into mechanical force from the signal of telecommunication of computer B, output to action bars, feed back to the operator;
10) operator shows that according to the vision at operation scenario graphical simulation interface in conjunction with the force information of multiple degrees of freedom electromechanical assembly output, the online operation strategy of cooking up next step is got back to step 1 then; So repeatedly, finish smoothly up to nano-manipulation.
3. according to claim 1 described real-time force sense and visual image man-machine interaction method based on nano-manipulation, it is characterized in that: wherein the nano-manipulation device adopts Finite Impulse Response filter that it is carried out the filtering processing deformation signal of described scan-probe, the sequence of resulting scan-probe deformation data signal is become output sequence by operation transform, and described FIR wave filter adopts the transform situation of operation function to be:
Wherein, h (n) is the unit impact response of system, and H (z) is a system function, and the difference equation expression formula of this function is:
4. real-time force sense and the used system of visual image man-machine interaction method based on a nano-manipulation is characterized in that: comprise nano-manipulation device, signal processing system, image simulation interface and multiple degrees of freedom electromechanical assembly.The nano-manipulation device is input as the position signalling of multiple degrees of freedom electromechanical assembly, be output as the deformation signal of scan-probe, output is connected to signal processing system, and signal processing system is output as the force signal of representing the probe tip active force, sends the multiple degrees of freedom electromechanical assembly with power sense again to; The multiple degrees of freedom electromechanical assembly is output as position signalling, the command signal that will be converted into the running of control nano-manipulation device via signal processing system inputs to the nano-manipulation device, simultaneously, the position signalling that signal processing system will be by the multiple degrees of freedom electromechanical assembly and be operated the emulating image that the motion model real-time update of thing obtains and pass to the image simulation interface.
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| CN102485640A (en) * | 2010-12-03 | 2012-06-06 | 中国科学院沈阳自动化研究所 | Task-oriented mixed mode nano operation method based on atomic force microscope |
| CN103128728A (en) * | 2013-02-26 | 2013-06-05 | 孙振忠 | Remote-control target maintenance technology based on vision-and-force sensing system |
| CN103185811A (en) * | 2011-12-29 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Atomic force microscope probe expanding working method |
| CN105510639A (en) * | 2014-09-24 | 2016-04-20 | 中国科学院宁波材料技术与工程研究所 | Probe for scanning probe microscope, preparation method of the probe, and detection method of the probe |
| CN108584868A (en) * | 2018-03-27 | 2018-09-28 | 哈尔滨理工大学 | Nanostructures closed loop control method and operating platform design scheme under a kind of SEM |
| CN109387670A (en) * | 2017-08-07 | 2019-02-26 | 中国科学院沈阳自动化研究所 | A kind of SICM voltage modulated imaging device and method based on difference noise reduction |
| CN110134002A (en) * | 2018-02-09 | 2019-08-16 | 中国科学院沈阳自动化研究所 | A kind of controllable depth surface defect processing method based on ultrasonic AFM closed-loop system |
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-
2004
- 2004-10-10 CN CNB2004100505676A patent/CN100484866C/en not_active Expired - Fee Related
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| CN100516821C (en) * | 2005-07-22 | 2009-07-22 | 董再励 | Method for realizing touch interactive interface based on scanning probe microscope |
| CN100513300C (en) * | 2006-11-28 | 2009-07-15 | 厦门大学 | Micro nano structure direct-writing device |
| CN102485640A (en) * | 2010-12-03 | 2012-06-06 | 中国科学院沈阳自动化研究所 | Task-oriented mixed mode nano operation method based on atomic force microscope |
| CN103185811A (en) * | 2011-12-29 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Atomic force microscope probe expanding working method |
| CN103128728A (en) * | 2013-02-26 | 2013-06-05 | 孙振忠 | Remote-control target maintenance technology based on vision-and-force sensing system |
| CN105510639A (en) * | 2014-09-24 | 2016-04-20 | 中国科学院宁波材料技术与工程研究所 | Probe for scanning probe microscope, preparation method of the probe, and detection method of the probe |
| CN105510639B (en) * | 2014-09-24 | 2018-10-19 | 中国科学院宁波材料技术与工程研究所 | Probe, preparation method and detection method in a kind of scanning probe microscopy |
| CN109387670B (en) * | 2017-08-07 | 2020-12-29 | 中国科学院沈阳自动化研究所 | SICM voltage modulation imaging device and method based on differential noise reduction |
| CN109387670A (en) * | 2017-08-07 | 2019-02-26 | 中国科学院沈阳自动化研究所 | A kind of SICM voltage modulated imaging device and method based on difference noise reduction |
| CN110134002A (en) * | 2018-02-09 | 2019-08-16 | 中国科学院沈阳自动化研究所 | A kind of controllable depth surface defect processing method based on ultrasonic AFM closed-loop system |
| CN110134002B (en) * | 2018-02-09 | 2021-05-25 | 中国科学院沈阳自动化研究所 | Controllable depth surface defect processing method based on ultrasonic AFM closed loop system |
| CN108584868A (en) * | 2018-03-27 | 2018-09-28 | 哈尔滨理工大学 | Nanostructures closed loop control method and operating platform design scheme under a kind of SEM |
| US11555767B2 (en) * | 2020-07-24 | 2023-01-17 | Ta Instruments-Waters Llc | Haptic feedback for configuring materials testing systems |
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