The Experts below are selected from a list of 264 Experts worldwide ranked by ideXlab platform
Marco Jähnisch - One of the best experts on this subject based on the ideXlab platform.
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Automatic nanoHandling station inside a scanning electron microscope
Proceedings of the Institution of Mechanical Engineers Part B: Journal of Engineering Manufacture, 2008Co-Authors: Sergej Fatikow, Volkmar Eichhorn, Thomas Wich, T. Sievers, Marco Jähnisch, H. Hulsen, J Mircea, Ch StolleAbstract:Abstract Current research work on the development of an automated nanoHandling cell in a scanning electron microscope (SEM) is presented. Two experimental setups are shown, in which nanoHandling robots ooperate in the vacuum chamber of an SEM. A client–server control system that can integrate various microrobots and sensors has been developed and evaluated by Automatic Handling of TEM (transmission electron microscope) lamellae by two nanorobots. The robots are controlled in a closed-loop way by using images from several CCD cameras and from the SEM. Algorithms for real-time processing of noisy SEM images have been implemented and tested. The experiment on Automatic Handling of TEM lamellae inside an SEM is described. The other setup contains a nanoHandling robot using the probe of an atomic force microscope (AFM) as an end-effector. The manipulation of individual multiwall carbon nanotubes (MW-CNTs) and the characterization of nanofilms by nanoindentation are the applications being investigated. The experimental setup includesf a nanopositioning piezo sample stage with three degrees of freedom (DoF) and a three-axes nanomanipulator. Piezoresistive AFM probes are applied as an end-effector. This way the acting forces can be detected allowing force feedback for the station’s control system. First investigations have been carried out by bending of MWNTs and calculating their elastic modulus.
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microrobot system for Automatic nanoHandling inside a scanning electron microscope
IEEE-ASME Transactions on Mechatronics, 2007Co-Authors: Sergej Fatikow, Thomas Wich, T. Sievers, H. Hulsen, Marco JähnischAbstract:In this paper, current research work on the development of an automated nano Handling station in a scanning electron microscope (SEM) is presented. An experimental setup is described, in which two mobile microrobots cooperate in the vacuum chamber of an SEM. The robots are positioned by a closed-loop controller with sensor data, which is provided by three charge-coupled device cameras and the SEM. Continuous pose estimation is carried out by processing noisy SEM images in real time. To enable the automation of complex tasks, a client-server control system that can integrate various microrobots and sensors is introduced. Finally, the overall system is evaluated by Automatic Handling of transmission electron microscope lamellae.
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ICRA - Microrobot system for Automatic nanoHandling inside a scanning electron microscope
Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 1Co-Authors: Sergej Fatikow, Thomas Wich, H. H.lsen, T. Sievers, Marco JähnischAbstract:Current research work on the development of an automated nanoHandling cell in a scanning electron microscope (SEM) is presented. An experimental setup is shown, in which two micro robots cooperate in the vacuum chamber of an SEM. A client-server control system that can integrate various microrobots and sensors has been developed and evaluated by Automatic Handling of TEM (transmission electron microscope) lamellae. The robots are controlled in a closed-loop way by using images from several CCD cameras and from the SEM. Algorithms for real-time processing of noisy SEM images have been implemented and tested. Finally, the experiment on Automatic Handling of TEM lamellae inside an SEM is described
Sergej Fatikow - One of the best experts on this subject based on the ideXlab platform.
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Automatic nanoHandling station inside a scanning electron microscope
Proceedings of the Institution of Mechanical Engineers Part B: Journal of Engineering Manufacture, 2008Co-Authors: Sergej Fatikow, Volkmar Eichhorn, Thomas Wich, T. Sievers, Marco Jähnisch, H. Hulsen, J Mircea, Ch StolleAbstract:Abstract Current research work on the development of an automated nanoHandling cell in a scanning electron microscope (SEM) is presented. Two experimental setups are shown, in which nanoHandling robots ooperate in the vacuum chamber of an SEM. A client–server control system that can integrate various microrobots and sensors has been developed and evaluated by Automatic Handling of TEM (transmission electron microscope) lamellae by two nanorobots. The robots are controlled in a closed-loop way by using images from several CCD cameras and from the SEM. Algorithms for real-time processing of noisy SEM images have been implemented and tested. The experiment on Automatic Handling of TEM lamellae inside an SEM is described. The other setup contains a nanoHandling robot using the probe of an atomic force microscope (AFM) as an end-effector. The manipulation of individual multiwall carbon nanotubes (MW-CNTs) and the characterization of nanofilms by nanoindentation are the applications being investigated. The experimental setup includesf a nanopositioning piezo sample stage with three degrees of freedom (DoF) and a three-axes nanomanipulator. Piezoresistive AFM probes are applied as an end-effector. This way the acting forces can be detected allowing force feedback for the station’s control system. First investigations have been carried out by bending of MWNTs and calculating their elastic modulus.
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Nanohand: micro-nano system for Automatic Handling of nano-objects
Optomechatronic Micro Nano Devices and Components III, 2007Co-Authors: Sergej Fatikow, Volkmar Eichhorn, A. Sill, A. Steinecker, C. Meyer, L. Occhupinti, St. Fahlbusch, Ivo Utke, Peter Bøggild, Jean-marc BreguetAbstract:In the NanoHand project a system consisting of micro/nano based subsystems for Automatic Handling of nanometer sized objects like carbon nanotubes (CNTs) and nanowires (NWs) will be developed. The goals of the project are driven by the needs of upcoming semiconductor technology. Demonstrators will be built, which have a short term (a) as well as a long term (b) perspective: (a) automated decoration of scanning probe microscope (SPM) probes with (i) CNT-enabled supertips and (ii) supertips grown by focused electron beam induced deposition; (b) Handling and assembly of CNTs for the construction of nanoelectronic devices. NanoHand aims to transfer results achieved in laboratories towards industrially applicable, automated Handling system for nanoobjects and its applications. This paper reports the technical achievements of the first project year.
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microrobot system for Automatic nanoHandling inside a scanning electron microscope
IEEE-ASME Transactions on Mechatronics, 2007Co-Authors: Sergej Fatikow, Thomas Wich, T. Sievers, H. Hulsen, Marco JähnischAbstract:In this paper, current research work on the development of an automated nano Handling station in a scanning electron microscope (SEM) is presented. An experimental setup is described, in which two mobile microrobots cooperate in the vacuum chamber of an SEM. The robots are positioned by a closed-loop controller with sensor data, which is provided by three charge-coupled device cameras and the SEM. Continuous pose estimation is carried out by processing noisy SEM images in real time. To enable the automation of complex tasks, a client-server control system that can integrate various microrobots and sensors is introduced. Finally, the overall system is evaluated by Automatic Handling of transmission electron microscope lamellae.
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ICRA - Microrobot system for Automatic nanoHandling inside a scanning electron microscope
Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 1Co-Authors: Sergej Fatikow, Thomas Wich, H. H.lsen, T. Sievers, Marco JähnischAbstract:Current research work on the development of an automated nanoHandling cell in a scanning electron microscope (SEM) is presented. An experimental setup is shown, in which two micro robots cooperate in the vacuum chamber of an SEM. A client-server control system that can integrate various microrobots and sensors has been developed and evaluated by Automatic Handling of TEM (transmission electron microscope) lamellae. The robots are controlled in a closed-loop way by using images from several CCD cameras and from the SEM. Algorithms for real-time processing of noisy SEM images have been implemented and tested. Finally, the experiment on Automatic Handling of TEM lamellae inside an SEM is described
Frederic Massicotte - One of the best experts on this subject based on the ideXlab platform.
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Automatic Handling of protocol dependencies and reaction to 0-day attacks with scriptgen based honeypots
Lecture Notes in Computer Science, 2006Co-Authors: Corrado Leita, Marc Dacier, Frederic MassicotteAbstract:Spitzner proposed to classify honeypots into low, medium and high interaction ones. Several instances of low interaction exist, such as honeyd, as well as high interaction, such as Genii. Medium interaction systems have recently received increased attention. ScriptGen and Role-Player, for instance, are as talkative as a high interaction system while limiting the associated risks. In this paper, we do build upon the work we have proposed on ScriptGen to Automatically create honeyd scripts able to interact with attack tools without relying on any a-priori knowledge of the protocols involved. The main contributions of this paper are threefold. First, we propose a solution to detect and handle so-called intra-protocol dependencies. Second, we do the same for inter-protocols dependencies. Last but not least, we show how, by modifying our initial refinement analysis, we can, on the fly, generate new scripts as new attacks, i.e. 0-day, show up. As few as 50 samples of attacks, i.e. less than one per platform we have currently deployed in the world, is enough to produce a script that can then Automatically enrich all these platforms.
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RAID - Automatic Handling of protocol dependencies and reaction to 0-day attacks with scriptgen based honeypots
Lecture Notes in Computer Science, 2006Co-Authors: Corrado Leita, Marc Dacier, Frederic MassicotteAbstract:Spitzner proposed to classify honeypots into low, medium and high interaction ones. Several instances of low interaction exist, such as honeyd, as well as high interaction, such as GenII. Medium interaction systems have recently received increased attention. ScriptGen and RolePlayer, for instance, are as talkative as a high interaction system while limiting the associated risks. In this paper, we do build upon the work we have proposed on ScriptGen to Automatically create honeyd scripts able to interact with attack tools without relying on any a-priori knowledge of the protocols involved. The main contributions of this paper are threefold. First, we propose a solution to detect and handle so-called intra-protocol dependencies. Second, we do the same for inter-protocols dependencies. Last but not least, we show how, by modifying our initial refinement analysis, we can, on the fly, generate new scripts as new attacks, i.e. 0-day, show up. As few as 50 samples of attacks, i.e. less than one per platform we have currently deployed in the world, is enough to produce a script that can then Automatically enrich all these platforms.
Fabio Ghilardelli - One of the best experts on this subject based on the ideXlab platform.
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Smart Changes of the End-Effector Orientation for the Automatic Handling of Singular Configurations
IEEE ASME Transactions on Mechatronics, 2016Co-Authors: Fabio Ghilardelli, Corrado Guarino Lo Bianco, Marco LocatelliAbstract:Trajectories in the operational space could easily cause feasibility issues when they incur in kinematic singularities. In proximity of singular configurations, as known, joint velocities and accelerations could indeed assume unfeasible values, thus worsening the tracking performances of controllers: in case of strong violations of the assigned bounds, manipulators could even be stopped in order to prevent control losses. Problems are especially evident when trajectories are online defined for nonrepetitive tasks. This paper proposes an algorithm for the real-time Handling of wrist singularities for nonredundant manipulators. The proposed method makes it possible to execute otherwise unfeasible trajectories by simultaneously preserving an accurate path tracking, by guaranteeing the fulfillment of the assigned longitudinal time law and by fulfilling a given set of bounds on the joint velocities and accelerations. This result is achieved by acting on the orientation of the end-effector: only minor changes are admitted in order to minimize their impact on the process quality. The proposed method has been verified by means of simulations and real experiments. Comparisons have been made with the performances of an analogous commercial system.
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Real-Time Planner in the Operational Space for the Automatic Handling of Kinematic Constraints
IEEE Transactions on Automation Science and Engineering, 2014Co-Authors: Corrado Guarino Lo Bianco, Fabio GhilardelliAbstract:Planning problems in the operational space are characterized by implementation issues that do not occur in the joint space. For example, depending on the manipulator pose, relatively slow trajectories in the operational space could require unfeasible joint speeds, thus causing the degeneration of the system performances: Path tracking errors certainly increase but, in the worst situations, the manipulator must be stopped in order to prevent the system instability. This paper proposes a real-time planner in the operational space that is able to generate trajectories subject to dynamic constraints and devised according to the path-velocity decomposition approach. The feasibility is achieved by means of an Automatic scaling system that, starting from a possibly unfeasible trajectory, modifies its longitudinal velocity in order to fulfill a given set of kinematic constraints, thus preserving an accurate path tracking. The scaling system promptly reacts to critical configurations through minimum-time transients. The proposed approach has been tested on an actual anthropomorphic manipulator by executing 6D trajectories. Note to Practitioners - The accurate path tracking must be guaranteed especially when trajectories are planned in the operational space. Unfortunately, path tracking worsens every time system limits are exceeded. The trajectory generator proposed in this paper is specifically designed for non-redundant manipulators and it is equipped with a scaling system that Automatically modifies the speed of the end effector in order to guarantee an accurate path tracking. Several kinematic constraints are handled at the same time. Joint velocities are kept below the manufacturer's limits, while joint accelerations are bounded in order to achieve smooth movements. The system is also able to constrain the kinematics of the end effector. For example, in order to reduce the mechanical stress on the payload and to avoid the excitation of elastic modes, additional bounds on the velocities and accelerations of the end effector are considered and managed. The planner can also be used to generate minimum-time constrained trajectories in real-time. To this purpose, further constraints on the longitudinal velocities and accelerations have been introduced. Differently from alternative approaches, the proposed planning scheme does not require any interaction with the controller. This is an advantage, since controllers of industrial manipulators are typically not accessible or modifiable, while, in turn, proprietary trajectory planners can normally be replaced with ad-hoc implementations. The scaling system can be easily expanded in order to handle additional constraints. The trajectory smoothness, for example, can be improved by managing the jerk bounds, so that the ongoing research activity is currently focused on that target. In the same way, it could also be possible to handle some dynamic constraints, but this would impose the introduction of mutual interactions between the scaling system and the central control unit.
H. Hulsen - One of the best experts on this subject based on the ideXlab platform.
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Automatic nanoHandling station inside a scanning electron microscope
Proceedings of the Institution of Mechanical Engineers Part B: Journal of Engineering Manufacture, 2008Co-Authors: Sergej Fatikow, Volkmar Eichhorn, Thomas Wich, T. Sievers, Marco Jähnisch, H. Hulsen, J Mircea, Ch StolleAbstract:Abstract Current research work on the development of an automated nanoHandling cell in a scanning electron microscope (SEM) is presented. Two experimental setups are shown, in which nanoHandling robots ooperate in the vacuum chamber of an SEM. A client–server control system that can integrate various microrobots and sensors has been developed and evaluated by Automatic Handling of TEM (transmission electron microscope) lamellae by two nanorobots. The robots are controlled in a closed-loop way by using images from several CCD cameras and from the SEM. Algorithms for real-time processing of noisy SEM images have been implemented and tested. The experiment on Automatic Handling of TEM lamellae inside an SEM is described. The other setup contains a nanoHandling robot using the probe of an atomic force microscope (AFM) as an end-effector. The manipulation of individual multiwall carbon nanotubes (MW-CNTs) and the characterization of nanofilms by nanoindentation are the applications being investigated. The experimental setup includesf a nanopositioning piezo sample stage with three degrees of freedom (DoF) and a three-axes nanomanipulator. Piezoresistive AFM probes are applied as an end-effector. This way the acting forces can be detected allowing force feedback for the station’s control system. First investigations have been carried out by bending of MWNTs and calculating their elastic modulus.
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microrobot system for Automatic nanoHandling inside a scanning electron microscope
IEEE-ASME Transactions on Mechatronics, 2007Co-Authors: Sergej Fatikow, Thomas Wich, T. Sievers, H. Hulsen, Marco JähnischAbstract:In this paper, current research work on the development of an automated nano Handling station in a scanning electron microscope (SEM) is presented. An experimental setup is described, in which two mobile microrobots cooperate in the vacuum chamber of an SEM. The robots are positioned by a closed-loop controller with sensor data, which is provided by three charge-coupled device cameras and the SEM. Continuous pose estimation is carried out by processing noisy SEM images in real time. To enable the automation of complex tasks, a client-server control system that can integrate various microrobots and sensors is introduced. Finally, the overall system is evaluated by Automatic Handling of transmission electron microscope lamellae.
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Control system for the Automatic Handling of biological cells with mobile microrobots
Proceedings of the 2004 American Control Conference, 2004Co-Authors: H. Hulsen, T. Truper, S. FatikowAbstract:This paper describes current research activities on the development of a control system for the automated Handling of biological cells with mobile microrobots. Two main aspects are covered: a motorized inverted microscope is used to extract position coordinates of the microrobot's end-effector and the biological objects; and, a motion control system uses this sensor information to move a mobile microrobot with high precision on the microscope's stage. This system can then be used to Automatically transport biological cells to different repositories or to perform microdissection.
