Journal of Mechanical Science and Technology

, Volume 32, Issue 2, pp 805–810 | Cite as

Hybrid IPSO-automata algorithm for path planning of micro-nanoparticles through random environmental obstacles, based on AFM

  • M. H. Korayem
  • S. Nosoudi
  • S. Khazaei Far
  • A. K. Hoshiar


Nanomanipulation plays a significant role in nanotechnology research. The process of Atomic force microscopy (AFM) based manipulation is complex and time-consuming, which can be improved using a path-planning algorithm to reduce its manipulation time and time complexity. Due to real-time monitoring limitation in AFM based manipulations, Virtual reality (VR) environments have been developed. One such developed VR environment, however, is limited to point to point manipulation and lacks any path information. Therefore, we propose using a hybrid Improved particle swarm optimization (IPSO), a cellular automata-based algorithm for path planning during manipulation of micro/nanoparticles. In this technique, the critical time-force diagram, representing the AFM based manipulation dynamic is considered as a constraint, and is subsequently used to find the best path. The main path is divided into several segments and is optimized. Used as an algorithm for manipulation, this technique provides a more precise path in the AFM-based manipulation. Finally, the ability of this technique was compared to the other path planner algorithms based on its efficiency in reducing time-complexity parameters.


Atomic force microscopy Nanoparticles Path planning Manipulation Improved particle swarm optimization (IPSO) Automata 


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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • M. H. Korayem
    • 1
  • S. Nosoudi
    • 2
  • S. Khazaei Far
    • 2
  • A. K. Hoshiar
    • 3
  1. 1.Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical EngineeringIran University of Science and TechnologyNarmak, TehranIran
  2. 2.Mechatronic Engineering DepartmentIslamic Azad University, Science and Research BranchTehranIran
  3. 3.Faculty of Industrial and Mechanical EngineeringIslamic Azad University, Qazvin BranchQazvinIran

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