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Autonomous contact-based micromanipulation is challenging because surface and interfacial interactions at the microscale are difficult to model accurately, limiting the use of conventional model-based control and sim-to-real learning. We…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
Time-continuous quantum measurement allows for the tracking of a quantum system in real time via sequences of short, and individually weak, measurement intervals. Such measurements are necessarily invasive, imparting backaction to the…
In this paper the dynamic behavior of an oscillating tip-microlever system at the proximity of a surface is discussed. We show that the nonlinear behavior of the oscillator is able to explain the high sensitivity of the oscillating tip…
We present a physical model for electronic switching in cantilever based nano-electro-mechanical field effect transistors, focusing on the steepness of its switching curve. We find that the subthreshold swing of the voltage transfer…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
Molecular dynamic (MD) simulations are applied to investigate the dependency of the kinetic friction coefficient on the temperature at the nano-scale. The system is comprised of an aluminum spherical particle consisting of 32000 atoms in an…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
To achieve accurate contour tracking of robotic manipulators with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control (ANTSMC) based on cross-coupling is proposed. Firstly, the…
We demonstrate a cryogenic scanned probe microscope (SPM) that has been modified to be controlled with a haptic device, such that the operator can `feel' the surface of a sample under investigation. This system allows for direct tactile…
This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated. For this purpose, a robotic…
A promising technique for measuring single electron spins is magnetic resonance force microscopy (MRFM), in which a microcantilever with a permanent magnetic tip is resonantly driven by a single oscillating spin. If the quality factor of…
Currently grip control during in-hand manipulation is usually modeled as part of a monolithic task, yielding complex controllers based on force control specialized for their situations. Such non-modular and specialized control approaches…
Achieving efficient three-dimensional feedback cooling of levitated nanoparticles is a key requirement for precision sensing and quantum control in levitated optomechanics. Here we demonstrate three-dimensional optical feedback cooling of a…
In this paper, an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement. There are…
We use the principles of cavity optomechanics to design a resonant mechanical force sensor for atomic force microscopy. The sensor is based on a type of electromechanical coupling, dual to traditional capacitive coupling, whereby the motion…
This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device, designed with thin…
A new technique was developed for studying the mechanical behavior of nano-scale thin metal films on substrate is presented. The test structure was designed on a novel "paddle" cantilever beam specimens with dimensions as few hundred…
Electrostatic force microscopy at cryogenic temperatures is used to probe the electrostatic interaction of a conductive atomic force microscopy tip and electronic charges trapped in localized states in an insulating layer on a…
An experimental arrangement and a set of experiments are developed to generate empirical evidence of the effect of noise on a rotating, macro-scale cantilever structure. The experiment is a controlled representation of a rotating machinery…