Laser-based sensing, measurement and control of multi-axis flexure-based mechanisms for nano manipulations

该项目旨在研究基于多轴柔性的纳米机械臂的测量、设计、优化和控制的基本问题。针对作动器的非线性、运动轴间干扰和外部干扰等问题，建立新的位置和姿态测量与反馈传感方法，以及先进的纳米操纵控制技术。这项研究具有重要意义，因为这种纳米操纵器和方法代表了许多未来科学和工程纳米操纵系统的基石。该项目将为多轴柔性纳米机械臂的测量、表征和控制建立新的知识、方法和仪器。

The project aims to investigate fundamental issues in measurement, design, optimisation, and control of multi-axis flexure-based nano manipulators. It aims to establish novel sensing methodologies for position and orientation measurements and feedback, and advanced control techniques for nano manipulation in view of actuators’ nonlinearities, interferences among motion axes, and external disturbances. The research is significant as such nano manipulators and methodologies represent the building blocks for many future scientific and engineering nano manipulation systems. The project will establish new knowledge, methodologies, and instrumentations for measurement, characterisation and control of multi-axis flexure-based nano manipulators.