Intelligent time-delay reduction of nonlinear model predictive control (NMPC) for wheeled mobile robots in the presence of obstacles.

The speed of solving and processing factors that are beneficial in reaching the desired target is one of the problematic aspects of controlling robots that has been neglected by the majority of researchers. Therefore, it is essential to look into the factors that influence calculation speed and goal achievement, and there should be some solutions to control robots in a lower time without sacrificing accuracy. The speed of processing and operations in wheeled mobile robots (WMRs), as well as the speed of a nonlinear model predictive control (NMPC), are examined in this article.

Path planning in three dimensional live environment with randomly moving obstacles for viscoelastic bio-particle.

Significant capabilities of atomic force microscopy (AFM) such as operating in various environments and scales made it a useful device in different operations. According to AFM abilities and applications, in this work, the path through the live environment with fixed and moving obstacles that are distributed all over the space randomly has been provided. The optimized path has been discovered in this article based on the applications mentioned above.

Multilayered non-uniform atomic force microscope piezoelectric microcantilever control and vibration analysis considering different excitation based on the modified couple stress theory.

Atomic force microscope (AFM) is one of the most powerful tools for surface scanning, force measurement, and nano-manipulation. To improve its performance, vibration and control of AFM micro-cantilever (MC) should be studied. Hysteresis, as an undesired phenomenon affecting vibration amplitude and phase, is also another important issue to be examined.

The effect of liquid medium on vibration and control of the AFM piezoelectric microcantilever.

This article investigates the vibration motion and control of the piezoelectric microcantilever (MC) of the atomic force microscope in the amplitude mode in a liquid environment for both free and forced vibrations. The modeled MC includes two electrode layers, a piezoelectric layer, and the geometric discontinuities as a result of these layers and the change in the MC cross section at the probe-MC contact point is modeled. The equations of motion are derived using Hamilton's principle and then discretized with the aid of the finite element method.

Nonclassical dynamic modeling of nano/microparticles during nanomanipulation processes.

Since the manipulation of particles using atomic force microscopy is not observable in real-time, modeling the manipulation process is of notable importance, enabling us to investigate the dynamical behavior of nanoparticles. To model this process, previous studies employed classical continuum mechanics and molecular dynamics simulations which had certain limitations; the former does not consider size effects at the nanoscale while the latter is time consuming and faces computational restrictions. To optimize accuracy and computational costs, a new nonclassical modeling of the nanomanipulation process based on the modified couple stress theory is proposed that includes the size effects.

Geometric parameters effect of the atomic force microscopy smart piezoelectric cantilever on the different rough surface topography quality by considering the capillary force.

Nowadays, the atomic force microscopy (AFM) is widely used in the nanotechnology as a powerful nano-robot. The surface topography in Nanoscale is by far one of the most important usages of the AFM device. Hence, in this article, the vibration motion of a piezoelectric rectangular cross-section micro-cantilever (MC) which oscillates in the moist environment has been examined based on the Timoshenko beam theory.

Comprehensive modelling and simulation of cylindrical nanoparticles manipulation by using a virtual reality environment.

With the expansion of nanotechnology, robots based on atomic force microscope (AFM) have been widely used as effective tools for displacing nanoparticles and constructing nanostructures. One of the most limiting factors in AFM-based manipulation procedures is the inability of simultaneously observing the controlled pushing and displacing of nanoparticles while performing the operation. To deal with this limitation, a virtual reality environment has been used in this paper for observing the manipulation operation.

Analysis the effect of different geometries of AFM's cantilever on the dynamic behavior and the critical forces of three-dimensional manipulation.

An important challenge when using an atomic force microscope (AFM) is to be able to control the force exerted by the AFM for performing various tasks. Nevertheless, the exerted force is proportional to the deflection of the AFM cantilever, which itself is affected by a cantilever's stiffness coefficient. Many papers have been published so far on the methods of obtaining the stiffness coefficients of AFM cantilevers in 2D; however, a comprehensive model is yet to be presented on 3D cantilever motion.

Analyzing the Effect of Capillary Force on Vibrational Performance of the Cantilever of an Atomic Force Microscope in Tapping Mode with Double Piezoelectric Layers in an Air Environment.

The aim of this paper is to determine the effects of forces exerted on the cantilever probe tip of an atomic force microscope (AFM). These forces vary according to the separation distance between the probe tip and the surface of the sample being examined. Hence, at a distance away from the surface (farther than d(on)), these forces have an attractive nature and are of Van der Waals type, and when the probe tip is situated in the range of a₀≤ d(ts) ≤ d(on), the capillary force is added to the Van der Waals force.

Dynamics of carbon nanotube tipped atomic force microscopy in liquid.

Carbon nanotubes (CNT) are proper tips for atomic force microscopes (AFMs) as a result of their small tip diameter, high aspect ratio, and high flexibility. For nanoscale imaging of soft biological specimens, a CNT tipped AFM is an ideal tool. In this article we review the application of CNTs as AFM tips and present related research about the forces applied from liquids on nanotubes.