Atomic Force Microscopy (AFM) has revolutionized nanoscale characterization by offering high-resolution imaging for a wide range of surfaces. Among its operating modes, the noncontact mode AFM (NC-AFM) is particularly valuable for preserving the integrity of soft and biological structures by minimizing intrusive forces between the sample and the cantilever tip. However, conventional NC-AFM suffers from slow scanning speeds, making it unsuitable for capturing real-time dynamic processes that require high data acquisition rates. This limitation primarily arises from transient behavior due to the cantilever's mass and the delay introduced by the root-mean-square (RMS) circuit traditionally used for demodulating the oscillating sensor signal.To enhance imaging speed, this paper presents a hybrid control strategy combining Model Predictive Control (MPC) and Proportional-Integral (PI) control. In this approach, MPC moves the cantilever closer to the sample in open-loop operation, thereby reducing the gap distance for the PI feedback control. This hybrid method allows the piezoelectric (PZT) actuator to follow the sample surface more accurately and at higher speeds, achieving up to 10 scan lines per second (10 Hz)—five times faster than conventional method. Experimental validation using a 100nm step-shaped sample demonstrates the enhanced performance of the proposed controller.

This paper presents a nano positioning mechanism with flexure hinge and damper. The nano stage represented in this paper consists of a leaf spring guides and the voice coil motor (VCM) since it provides long working range and the control is easy. However, when the leaf spring is used alone, mechanism has very small damping, which reduces the system stability and causes mechanical vibration in positioning. Especially, in measurement system, since the excessive vibration leads the reduction of the system bandwidth, the elimination of the mechanical vibration is very important. In this paper, the simple eddy current brake system is used as a damper. With a proper damping ratio, the transient response is improved and the settling time of the nano stage is shortened. Numerical and experimental results show the validity of the proposed damped flexure hinge stage.

The robots operating in hazardous environments such as nuclear plant decommissioning or terrorist bomb disposal need to show off-road capabilities due to the uneven terrain including stairs and ditches. The hazardous environment operation typically requires the use of a remotely operated robot. In this paper we propose an improved articulated track mechanism. A sensing system for haptic operation with a joystick is proposed considering the robot contacts to the stair. Additionally, we present the algorithm for the proposed robot to climb the stairs. Torque analysis is made to design electrical motors, which produce torque enough to drive the track lifting motor and track rotating motor.

Though conventional implants have a capability of pressure regulation, they cannot maintain the intra-ocular pressure (IOP) desired for different patients. To solve these problems, an active glaucoma implant which consists of the valve actuator, pressure sensor, controller, and power supply, has been developed. In this paper, we first analyse of the operation of the conventional implant using a bond graph, and show its defects and limitations of the conventional valve analytically. Next, we design and analyze an electromagnetically driven valve actuator composed of a membrane, air-core solenoid, permanent magnet, and covering frame. To save the electrical power for operating the valve actuator, appropriate actuating methods are suggested and an optimal design of the valve actuator is carried out. Finally, using simulations, the possibility of the proposed valve actuator is investigated.

In this paper, a haptic device is developed for PC video games, considering such specifications as bandwidth and resolution of human hand, workspace, and back-drivability. It has two degrees-of-freedom of rotation using a gimbal mechanism. For force reflection, two DC motors are used, and for torque amplification, cable transmission is used. For sensing of the reflected torque, a current sensor is used instead of high-cost force/torque sensor, using the property that the torque is linearly proportional to the current in the DC motor. For a joystick angle sensor, a potentiometer is used due to low-cost and enough resolution for torque reflection. It is analyzed that the torque reflection required to achieve motion realization for the video games are the spring torque and damping torque, which are implemented. The time and frequency response of the haptic joystick are demonstrated experimentally. The result will be presented. Additionally, simple dynamic programs which have the force reflection capability are implemented. The proposed haptic joystick is shown to be feasible in the applications of the haptic joystick for PC video games.