Sean B. Andersson

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The Atomic Force Microscope (AFM) is one of the most versatile tools in nanotechnology. For control engineers this instrument is particularly interesting, since its ability to image the surface of a sample is entirely dependent upon the use of a feedback loop. This paper will present a tutorial on the control of AFMs. We take the reader on a walk around the(More)
We describe a computational framework for automatic deployment of a robot with sensor and actuator noise from a temporal logic specification over a set of properties that are satisfied by the regions of a partitioned environment. We model the motion of the robot in the environment as a Markov decision process (MDP) and translate the motion specification to(More)
A high-level feedback control approach for rapid imaging in atomic force microscopy is presented. The algorithms are designed for samples which are string-like, such as biopolymers, and for boundaries. Rather than the simple raster-scan pattern, data from the microscope are used in real-time to steer the tip along the sample, drastically reducing the area(More)
We address two key goals pertaining to autonomous mobile robots: one, to develop fast accurate sensory capabilities - at present, the localization of sound sources - and second, the integration of such sensory modules with other robot functions, especially its motor control and navigation. A primary motivation for this work was to devise effective means to(More)
An apparatus for in vitro drug release testing of medicated chewing gums has been developed and is described in detail. The effects on the drug release when varying critical instrumental settings such as the chewing stroke frequency, the distance between the chewing surfaces, the twisting movements of these surfaces and the temperature of the test medium(More)
We discuss the generation of symbolic feedback control sequences for navigating a sparsely-described and uncertain environment, together with the problem of sensing landmarks sufficiently well to make feedback meaningful. We explore the use of a symbolic control approach for mitigating the lack of a detailed map of the environment and for reducing the(More)
We present a computational framework for automatic deployment of a robot from a temporal logic specification over a set of properties of interest satisfied at the regions of a partitioned environment. We assume that, during the motion of the robot in the environment, the current region can be precisely determined, while due to sensor and actuation noise,(More)
We consider the problem of controlling a continuous-time linear stochastic system from a specification given as a Linear Temporal Logic (LTL) formula over a set of linear predicates in the state of the system. We propose a three-step solution. First, we define a polyhedral partition of the state space and a finite collection of controllers, represented as(More)