Sharif Digital Repository

Metallic clusters are among the best candidates that may be utilized as building blocks for constructing nanostructures. Despite their great potential, a variety of questions arises about their suitability as building blocks at the nanoscale level. One of the key factors in the assembly of nanoclusters is the precise positioning that is required by a manipulation system. The response of clusters, which are subjected to this process, is of great importance. Currently, the size of clusters used as building blocks is shrinking down to a few nanometers. In such cases, the particle nature of matter plays an important role in manipulator/cluster/substrate interactions. Having a deeper insight into... 

In this paper, a novel control approach for one-dimensional bilateral teleoperated nanomanipulation system is proposed. While manipulating objects with a nanomanipulator, real time visual feedback is not available. So, force feedback is used to compensate for the lack of visual information. Since nanometer scale forces are dominated by surface forces instead of inertial forces as in macro world, scaling of nanoforces is one of the major issues of teleoperation system. The Hertz elastic contact model is used to model the interactions between the slave robot and the environment. The proposed framework uses the simple proportional derivative control, i.e., the master and slave robots are... 

In the recent years, there has been great interest in exploring methods for assembly and manipulation at the micro/nanoscale to build miniaturized systems, devices, structures, and machines. This thesis aims at two-dimensional manipulation of nanoparticle using Atomic Force Microscope (AFM) probe. The nanoprobe is used to push the spherical micro/nanoparticle. Continuum based modeling and simulation of the manipulation task is presented. The proposed nanomanipulation model consists of all effective phenomena in nanoscale. Nanoscale interaction forces, elastic deformation in contact areas, and friction forces in tip/nanoparticle/substrate system are considered. The utilized friction models... 

Molecular Dynamics as a powerful method in the field of Nano-simulation has been widely used in recent years. Different contact processes such as Nano-manipulation, AFM Imaging, and Nano-indentation can be simulated using this method. There have been numerous researches done on calculating techniques of simulation of different phenomena in Nano-technology. Specifically, friction and Nano-indentation which are parts of Nano-contact processes have been simulated by different investigators. However, on some other parts, e.g. Nano-manipulation and AFM Imaging, there are few studies done up to now. Thus, a simulation and computational software seems necessary in this field. The main goal of...