Information Requirements of Collision-Based Micromanipulation
نویسندگان
چکیده
We present a task-centered formal analysis of the relative power several robot designs, inspired by unique properties and constraints micro-scale robotic systems. Our task interest is object manipulation because it fundamental prerequisite for more complex applications such as assembly or cell manipulation. Motivated difficulty in observing controlling agents at micro-scale, we focus on design boundary interactions: robot’s motion strategy when collides with objects environment boundary, otherwise known bounce rule. minimal conditions sensing, memory, actuation requirements periodic “bouncing” trajectories that move an desired direction through incidental forces arising from robot-object collisions. Using information space framework hierarchical controller, compare emphasizing goal completion under different initial conditions, well what required to recognize irreparable failure. Finally, physically-motivated model interactions, analyze robustness dynamical resulting trajectories.
منابع مشابه
Information Security Requirements for Implementing Electronic Health Records in Iran
Background and Goal: ICT development in recent years has created excellent developments in human social and economic life. One of the most important opportunities to use information technology is in the medical field, that the result would be electronic health record (EHR).The purpose of this research is to investigate the effects information securi...
متن کاملInformation Security Evaluation based on Requirements, Metrics and Evidence Information
Information security assurance and evaluation of software-intensive systems typically relies heavily on the experience of the security professionals. Obviously, automated approaches are needed in this field. Unfortunately, there is no practical approach to carrying out security evaluation in a systematic way. We introduce an iterative process for security evaluation based on security requiremen...
متن کاملOptical micromanipulation.
Optical micromanipulation has engendered some major studies across all of the natural sciences at the mesoscopic scale. Though over thirty-five years old, the field is finding new applications and has lost none of its dynamic or innovative character: a trapped object presents a system that enables a calibrated minuscule force (piconewtons or less) to be exerted at will, enabling precision displ...
متن کاملSemi-Automated Control of AFM-based Micromanipulation using Potential Fields
This paper proposes a truly interactive virtual environment (VE) system for 2D assembly tasks at the microscale. It is based on the application of virtual potential fields as a control aid for performing safe and reliable path planning strategies. The planner covers a whole range of problems due to microscale effects in object assignment, obstacle detection and avoidance, path trajectory findin...
متن کاملInformation Security Requirements for Implementing Electronic Health Records in Iran
Background and Goal: ICT development in recent years has created excellent developments in human social and economic life. One of the most important opportunities to use information technology is in the medical field, that the result would be electronic health record (EHR).The purpose of this research is to investigate the effects information securi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Springer proceedings in advanced robotics
سال: 2021
ISSN: ['2511-1256', '2511-1264']
DOI: https://doi.org/10.1007/978-3-030-66723-8_13