IRIS :: Publications

Publications of IRIS Members

Reference (article)

B. E. Kratochvil, L. X. Dong, B. J. Nelson, "Real-time Rigid-Body Visual Tracking in a Scanning Electron Microscope", International Journal of Robotics Research, Vol. 28, No. 4, March 2009, 498-511.

BibTeX entry

@ARTICLE{Kratoch_08_01,
	Author = {Bradley E. Kratochvil and Lixin X. Dong and Bradley J. Nelson},
	Title = {Real-time Rigid-Body Visual Tracking in a Scanning Electron Microscope},
	Journal = {International Journal of Robotics Research},
	Volume = {28},
	Number = {4},
	Month = {March},
	Year = {2009},
	Pages = {498-511},
	Abstract = {Robotics continues to provide researchers with an increasing ability to interact with objects at the nanoscale. As microrobotic and nanorobotic technologies mature, more interest is given to computerassisted or automated approaches to manipulation. Although actuators are currently available that enable displacement resolutions in the subnanometer range, improvements in feedback technologies have not kept pace. Thus, many actuators that are capable of performing nanometer displacements are limited in automated tasks by the lack of suitable feedback mechanisms. This paper proposes the use of a rigidmodel-based method for end-effector tracking in a scanning electron microscope to aid in enabling more precise automated manipulationsand measurements. These models allow the system to leverage domain-specific knowledge to improve performance in a challenging tracking environment.},
	Keywords = {nanomanipulation, model-based visual tracking, scanning electron microscope}
}

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