Image-based Modeling, Control and Calibration for High Speed Scanning Probe Microscopy (G. M. Clayton)
Scanning probe microscopes (SPMs) are a key enabling tools for
nanotechnology because of their ability to image, manipulate, and
fabricate nano-scale objects. The primary impediment to the
increased use of these devices is limited throughput (limited
speed). In order to overcome this limitation, Dr. Garrett M. Clayton
is developing methods that use SPM images to model, control and
calibrate SPM devices. Current theoretical and experimental
investigations are focused on the measurement and control of general
two dimensional trajectories.
Unmanned Vehicle Modeling and Control Using Vision-based Information (G. M. Clayton)
Images contain information not only about the position,
orientation and motion of the objects in the image, but about the
position, orientation and motion of the imaging device itself. In
order to improve the performance of unmanned vehicles (UMVs), Dr.
Garrett M. Clayton is developing modeling and control methods which
exploit the UMV vision system, e.g. extract position, orientation
and motion from the images. Initial investigations are focused on
developing input-output dynamic models of UMVs from the vision
system, which can be used to develop feedforward and feedback
control systems, enabling higher-speed, higher-accuracy UMV
Piezoelectric Actuator Vibration Suppression (C. Nataraj and G. M. Clayton)
Piezoelectric actuators have been widely used for structural
vibration suppression. In this project, funded by the Turbo Research
Foundation, Dr. C. Nataraj and Dr. Garrett M. Clayton are developing
control algorithms for these vibration controlling piezoelectric
patches. Of specific interest are the theoretical development and
experimental implementation of partial differential equation control
methods such as boundary control.
The Microsoft Kinect as a Mobile Robotics Sensor (G. M. Clayton and J. Peyton Jones)
The ability of autonomous systems to understand
and navigate in uncertain environments is heavily dependent on the
sensors for detecting both moving and stationary obstacles. The
recent release of the Microsoft Kinect provides a powerful vision
sensor which captures both camera and depth images of the
environment. Dr. Garrett M. Clayton and Dr. James Peyton Jones (ECE)
are working on hardware and software solutions that enable the use of the Kinect in mobile
- M. K. Okorafor and G. M. Clayton. "Modeling scanning probe microscope lateral dynamics using the
probe-surface interaction signal." Review of Scientific
- G. M. Clayton, S. Tien, K.K. Leang, Q.
Zou, and S. Devasia. "A Review of Feedforward Control Approaches
in Nanopositioning for High Speed SPM." ASME Journal of Dynamic
Systems, Measurement, and Control - Special Issue on Nanosystem
Dynamics and Control. 131(6), November 2009, Paper no. 061101.
- G. M. Clayton and S. Devasia. "Conditions for Image-Based Identification of SPM-Nanopositioner
Dynamics." IEEE/ASME Transactions on Mechatronics - Special
Issue on Mechatronics for MEMS and NEMS, 14(4), August 2009, pg
- G. M. Clayton, S. Tien, A. J. Fleming,
S. O. R. Moheimani and S. Devasia "Inverse feedforward of charge
controlled piezoelectric positioners." IFAC Mechatronics -
Special Section on Optimized System Performances Through
Balanced Control Strategies, The 4th IFAC Symposium on
Mechatronic Systems: Mechatronics 2006, 18(5-6), June 2008, pg
- G. M. Clayton and S. Devasia. "Iterative
image-based modeling and control for higher scanning probe
microscope performance." Review of Scientific Instruments,
78(8), August 2007, Paper no. 083704. Selected for
publication in the Virtual Journal of Nanoscale Science &
Technology, 16(11), September 2007
- G. M. Clayton and S. Devasia. "Image-based
compensation of dynamic effects in scanning tunneling
microscopes." Nanotechnology, 16(6),
June 2005, pg 809-18
- G. M. Clayton and B. McManus. "Two Axis Image-based Measurement and Control for
Scanning Probe Microscopes.” 2011 ACC, Submitted.
- G. M. Clayton and R. Stein. "An Inexpensive Hands-on Introduction to DC Motors.”
2011 ASEE Annual Conference and Exhibition. Abstract Accepted.
- T. Wojcik, G. M. Clayton, A. Radlinska, and N. Comolli.
"The Promise of Impromptu
Design Exercises as a Pedagogical Tool in Engineering Design Education." 2011 ASEE Annual Conference and Exhibition.
- C. O'Brien, R. Stein, G. M. Clayton, A. Wemhoff, and C. Natarag.
"Development of a
Support Curriculum for SeaPerch and MATE." 2011 ASEE Annual Conference and Exhibition. Abstract Submitted.
- G. M. Clayton, A. Radlinska, N. Comolli, and T. Wojcik.
"Integrating design education
across the curriculum using impromptu design projects." Fall 2010 Mid-Atlantic ASEE Conference. Villanova, PA,
USA, October 15-16, 2010. G. M. Clayton CV 3/6
- M. Okorafor and G. M. Clayton. "Calibration-surface-derived modeling of scanning
probe microscope dynamics." 2010 IFAC Symposium on Mechatronic Systems. Boston, MA, USA, September 13-15, 2010.
- G. M. Clayton and V. Deshmukh. "Image-based measurement of periodic SPM trajectories."
2010 American Controls Conference, ACC, Baltimore, MD, USA, June 30-July 2, 2010
- G. M. Clayton, J. O'Brien, K. Kroos, and A. Fleischer.
"Introduction to Mechanical
Engineering – A Hands on Approach." 2010 ASEE Annual Conference and Exposition, Louisville, KY, USA June 20-23, 2010.
- G. M. Clayton. "Introducting Engineering Design Using Impromptu Design Projects."
2010 ASEE Annual Conference and Exposition, , Louisville, KY, USA June 20-23, 2010.
- G. M. Clayton and S. Devasia. "Theory for image-based estimation in scanning
probe microscopes." 2009 American Controls Coference, ACC, St. Louis, MO, USA, June 10-12, 2009.
- G. M. Clayton and S. Devasia. "Image-based trajectory estimation for scanning
tunneling microscopy." 2007 ASME International Congress and Exposition, IMECE. Seattle, WA, USA. November,
- G. M. Clayton, S. Tien, A. J. Fleming, S. O. R. Moheimani and S. Devasia
"Hysteresis and vibration compensation in piezoelectric actuators by integrating charge control and
inverse feedforward." The 4th IFAC Symposium on Mechatronic Systems. Heidelberg, Germany. September 12-14,
2006. Shortlist for best paper by a young author.
- C13 G. M. Clayton and S. Devasia. "Image-based control of dynamic effects in
scanning tunneling microscopes." 2004 ASME International Congress and Exposition, IMECE. Anaheim, CA,
USA. November 13-19, 2004.