A shape-feedback approach for more precise automatic nano manipulation process

One of the applications of nano-robots is the automatic nano-manipulation process. The experimental results indicate that nano-manipulations that are performed in a long time span are not very precise, and often the existence of different error sources, including the tip damage, causes these results to deviate from the intended outcome. In this article, by focusing on the phenomenon of tip damage in the automatic manipulation mechanism, a shape-feedback controller has been introduced to decrease the positioning errors. For this purpose, the tip´s root mean squares (RMS) changes have been calculated to use as a criterion of deformation level of tip and particle. Presented shape-feedback controller is a simple and reliable procedure for a more accurate nano-manipulation. At the end, some comparisons are provided for RMS and positioning errors with and without shape-feedback. These comparisons show the applicability and potential of present approach as a controller in automatic nano-manipulation process. Decreasing the positioning errors from 37.77% to 17.77% is the most significant result of this paper.