SGER: Bioengineering a SPM Based Nanomanipulator With Landmark Referenced Control

[0228508]本研究的目标是将基于高分辨率扫描探针显微镜（SPM）的生物标本成像技术与基于SPM的纳米操作技术相结合，为直接的纳米生物学研究提供一种重要的新方法。为了在微纳米环境中实现高效和可靠的操作，动态交互中的感知、处理和驱动能力是必不可少的。使用所提出的方法，通常会作为SPM图像投影的信号被获取，并提取必要的信息，以便随后用作反馈控制回路公式中的传感组件。控制回路用于沿着规定的轨迹精确地引导探针的尖端。反馈回路的构建包括通过自适应学习实现的地标识别和动态模式匹配。有了这个功能，探针就能够通过识别该站点对探针探针的感觉，返回到并保持在特定站点的中心。除了高级指令外，操作人员可以从操作中消除，并且可以利用该仪器固有的亚纳米分辨率的全部潜力。

0228508AyresThe goal of the proposed work is to combine high-resolution Scanning Probe Microscope (SPM)-based imaging that has been achieved for biological specimens with a novel approach to SPM-based nanomanipulation to yield a significant new approach for direct nanobiological investigations. To achieve efficient and reliable manipulation in a micro/nano environment, capabilities of sensing, processing and actuation in dynamic interactions are essential. Using the proposed approach, signals that would normally be projected as an SPM image are acquired and essential information is extracted for subsequent use as the sensing component within a feedback control loop formulation. The control loop is used to accurately steer the probe's tip along a prescribed trajectory. The feedback loop formulation involves landmark recognition and dynamic pattern matching through adaptive learning. With this capability, the tip is able to return to and stay centered on a specific site by recognizing the way the site feels to the probe tip. Except for high-level commands, the human operator can be eliminated from the operation and the full potential of this instrument with inherently sub-nanometer resolution can be utilized.