OverviewAbout XieMembersPublicationsPositionsLinksContactEquipments
基本信息
谢 晖 机器人技术与系统国家重点实验室，教授、博士生导师。主要研究方向为微纳机器人技术，2006年至2010年曾在法国巴黎第六大学/法国科学研究中心工作，获 2012 年国家自然基金优秀青年科学基金、教育部新世纪优秀人才计划等资助。在 Science Robotics、Nature Communications、IEEE Transactions on Robotics、ACS Nano 等机器人及交叉领域权威期刊发表SCI论文80余篇；出版中、英专著各1部；多次获得包括机器人顶级国际会议 IEEE IROS 最佳论文奖。研究成果获黑龙江省发明一等奖2项、自然科学二等奖1项；荣获2013年黑龙江省青年科技奖；目前担任 IEEE Access、IEEE/ASME Transactions on Mechatronics 等国际期刊编委职务。

Micro and Nano Robotics


Recent events
课题组一篇 Science Robotics 文章刊出，感谢所有合作队友！这是课题组继 2017 年底Nature Communications 的第二篇子刊成果，再接再厉！(21/03/2019）。

课题组两名同级博士生获得国奖，祝贺！(12/2018）。

2019年课题组招收博士生2名，2019硕博连读（直攻）学生、直接报考博士学生均可，欢迎报考！（13/10/2018）。

课题组首位毕业博士Danish Hussain获得校优秀博士论文！（18/09/2018）。

每年计划招收博士、硕士生各2名。课题源于国家自然基金、科技部重点研发、国际合作、欧盟Horizon 2020等项目。欢迎对学术前沿研究感兴趣的学生报考，亦欢迎有材料与生物背景的学生加盟（长期有效）。

欢迎相关领域的博士到课题组从事博士后研究工作（长期有效）。

新年新气象，愿您快乐、安康！（17/02/2015）。

Our team was awarded the Best Conference Paper in 3M-NANO 2012. (09/2012)。

About Xie


Prof. Hui XIE谢晖 教授

State Key Laboratory of Robotics and Systems
Harbin Institute of Technology (HIT)
C1-507, HIT Science Park
2 Yikuang Street, Nangang District
150080 Harbin, P. R. China
E-mail: xiehui (at) hit.edu.cn
哈尔滨工业大学
机器人技术与系统国家重点实验室
哈工大科学园C1楼507室
南岗区一匡街2号, 150080 哈尔滨
Hui Xie is a full professor in the State Key Laboratory of Robotics and Systems, School of Mechatronics Engineering at Harbin Institute of Technology (HIT), Harbin, China. He was a Research Associate at the Institut des Systèmes Intelligents et Robotique (ISIR), Université Pierre et Marie Curie (UPMC)/Centre National de la Recherche Scientifique (CNRS), Paris, France, from May 2008 to April 2010, where he was a Postdoctoral Researcher from December 2006 to April 2008.

In 2000, Xie received the B.S. degree in Mechanical Engineering from Harbin University of Science and Technology, Harbin, China. He received the M.S. degree in Mechanical Engineering and the Ph.D. degree in Mechatronics Engineering from Harbin Institute of Technology, Harbin, in 2002 and 2006, respectively. His current research interests include microrobotics/nanorobotics, nanomanipulation/characterization, AFM three-dimensional micro/nano CD metrology, AFM multiparametric imaging and characterization of complex cellular and biomolecular systems under physiological conditions, and micro/nano swimming robots (swarms).

Xie’s work was partly supported by the China National Science Fund for Excellent Young Scholars (2012) and the Program for New Century Excellent Talents by the Ministry of Education of China (2012). He won two Technological Invention Awards (1st Prize, 2005/2007) and one Natural Science Award (2nd Prize, 2017) of Heilongjiang Province. He has served as an Associate Editor of IEEE Access and IEEE/ASME Transactions on Mechatronics.




Team Members
Postdoctoral Associates

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高长永(Xianghe MENG)

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Doctoral Students

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孟祥合(Xianghe MENG)

Profile
- 2015.09 – Present, PhD Candidate
- 2011.09 – 2015.07, B.S., Harbin Institute of Technology

Research Activities:
- Nanomechanics at the micro- and nano-surfaces/interfaces

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宋建民(Jiangmin SONG)

Profile:
- 2015.09 – Present, PhD Candidate
- 2009.09 – 2015, B.S. & M.S., Harbin Institute of Technology

Research Activities:
- Cell mechanics

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张号(Hao ZHANG)

Profile：
- 2015.09 – Present, M.S., PhD Candidate
- 2009.09 – 2013.07, B.S., Kunming University of Science and Technology

Research Activities:
- Multiparametric imaging and characterization at micro/nano surfaces and interfaces
- Robotic micro- and nano manipulation

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温勇兵(Yongbing WEN)

Profile:
- 2016.09 – Present, PhD Candidate
- 2009.09 – 2016.07, B.S. Sichuan University

Research Activities:
- Fast imaging atomic force microscopy

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范新建(Xinjiang FAN)

Profile:

- 2016.09 – Present, PhD Candidate
- 2009.09 – 2016.07, B.S. & M.S., Ocean University of China

Research Activities:
- Micro- and nano-swimming robots

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孙猛猛(Mengmeng SUN)

Profile：
- 2017.09 – Present, PhD Candidate
- 2013.09 – 2017.07, B.S., Wuhan University

Research Activities:
- Micro- and nano-swimming robots

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耿俊媛(Junyuan GENG)

Profile：
- 2017.09 – Present, PhD Candidate
- 2013.09 – 2017.07, B.S., Yanshan University

Research Activities:
- Robotic micro- and nano manipulation

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陈韦男(Weinan CHEN)

Profile
- 2017.09 – Present, PhD Candidate
- 2015.09 – 2018.07, B.S., Shanghai University
Research Activities:
- Micro- and nano-swimming robots

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MS Students

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沈行健(Xingjian SHEN)

刘琪(Qi LIU)

毕业生(Alumni)

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Danish HUSSAIN

Profile：
- 2017.09 – Present, Assistant Professor, National University of Science and Technology, Pakistan
- 2012.09 – 2017.07, M.S. & PhD, State Key Laboratory of Robotics and Systems, HIT
- 2008.09 – 2012.07, B.S., Electronics Engineering, Dawood college of Engineering & Technology

Research Activities:
- Ultra-precision force sensors with the quartz tuning fork
- CD-Metrology AFM

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尹穆楠 (Munan YIN)

Profile:
- 2013 – 2016, Ph.D., Institut des Systèmes Intelligents et Robotique, Université Pierre et Marie Curie
- 2011 – 2013, M.S., State Key Laboratory of Robotics and Systems, Harbin Institute of Technology
- 2007 – 2011, B.S., Hehai University

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王浩 (Hao WANG)

Profile:
- 2012 – 2014, M.S., State Key Laboratory of Robotics and Systems, Harbin Institute of Technology
- 2008 – 2012, B.S., Chongqing University

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陈昇 (Sheng CHEN)

Profile:

- 2015 – 2017, M.S., State Key Laboratory of Robotics and Systems, Harbin Institute of Technology
- 2011 – 2015, B.S., Harbin Institute of Technology

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Books and Chapters
Atomic force microscopy based nanorobotics: modeling, simulation, setup building and experiments

Hui Xie, Cagdas Onal, Stéphane Régnier, and Metin Sitti
Springer-Verlag Berlin Heidelberg, 2011.

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3D micro/nanomanipulation with force spectroscopy

Hui Xie, and Stéphane Régnier
In Encyclopedia of Nanotechnology, Editor: B. Bhushan. Springer-Verlag Berlin Heidelberg. 2012.

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纳米机器人技术

谢晖. 哈尔滨工业大学出版社, 2014.

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Flexible robotic AFM based system for manipulation and characterization of micro- and nano-objects

Hui Xie,and Stéphane Régnier
In Micro- and Nanomanipulation Tools, Editor: Y. Sun & X. Liu. Wiley-VCH, 2015.

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International Journal Articles (Selected)
Reconfigurable magnetic microrobot swarms: Multimode transformation, locomotion, and manipulation

Hui Xie*, Mengmeng Sun, Xinjian Fan, Zhihua Lin, Weinan Chen, Lei Wang, Lixin Dong*, Qiang He*
Science Robotics, 4(28), eaav8006, 2019.

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Development of a magnetically driven microgripper for picoNewton force-controlled micromanipulation and characterization

Hui Xie*, Xianghe Meng, Hao Zhang, Lining Sun
IEEE Transactions on Industrial Electronics, DOI: 10.1109/TIE.2019.**.

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Living cell manipulation and in situ nanoinjection based on frequency shift feedback using cantilevered micropipette probes

Hui Xie*, Hao Zhang, Jianmin Song, Xianghe Meng, Junyuan Geng, Lining Sun,
IEEE Transactions on Automation Science and Engineering, DOI: 10.1109/TASE.2019.**.

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Nanorobotic manipulation system for 360° characterization atomic force microscopy

Yongbin Wen, Haojian Lu, Yajin Shen*, Hui Xie*,
IEEE Transactions on Industrial Electronics. DOI: 10.1109/TIE.2019.**.

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Programmable generation and motion control of a snake-like magnetic microrobot swarm

Hui Xie*, Xinjian Fan, Mengmeng Sun, Zhihuan Lin, Qiang He, Lining Sun
IEEE/ASME Transactions on Mechatronics. DOI: 110.1109/TMECH.2019.**.

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Correlation of surface morphology and interfacial adhesive behavior between cellulose surfaces: Quantitative measurements in Peak-Force Mode with colloidal probe technique

Yuli Lai, Hao Zhang, Yasuhito Sugano, Hui Xie*,, and Pasi Kallio*
Langmuir, DOI: 10.1021/acs.langmuir.8b03503.

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Fast batch quantification of the cellulose-cellulose adhesion using a cantilevered microgripper

Hui Xie*, Hao Zhang, Xianghe Meng, Jianmin Song, and Junyuan Geng
IEEE Sensors Journal, DOI: 10.1109/JSEN.2019.**.

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High-speed AFM imaging of nanopositioning stages using H∞ and iterative learning control

Hui Xie*, Yongbin Wen, Xingjian Shen, Hao Zhang, Lining Sun
IEEE Transactions on Industrial Electronics, DOI: 10.1109/TIE.2019.**.

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In situ quantification of the Young’s modulus of nuclei in multiple cellular states using a modified fiber probe sensor

Hui Xie*, Jianmin Song, Xianghe Meng, Hao Zhang,
IEEE Sensors Journal, 19(8), 2887-2894, 2019. DOI: 10.1109/JSEN.2018.**.

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Autonomic behavior in lipase‐active oil droplets

X Huang*, L Wang, YP Lin, Y Zhou, Hui Xie , J Song, M Li, Y Huang, S Mann*
Angewandte Chemie, 58(4), 1067-1071, 2019. DOI: 10.1002/ange.**.

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A novel linear-rotary piezoelectric positioning stage based on surface's rectangular trajectory driving

Shupeng Wang, Weibin Rong*, Lefeng Wang, Hui Xie* , Lining Sun, and James K. Mills
Precision Engineering, 55, 376-380, 2019.

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360° multiparametric imaging atomic force microscopy: a method for three-dimensional nanomechanical mapping

Haojian Lu, Yongbing Wen, Hao Zhang, Hui Xie* and Yajin Shen*
Ultramicroscopy, 196, 83-87, 2019.

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A survey of piezoelectric actuators with long working stroke in recent years: Classifications, principles, connections and distinctions

Shupeng Wang, Weibin Rong, Lefeng Wang, Hui Xie* , Lining Sun, James Mills
Mechanical Systems and Signal Processing, 123(15), 591–605, 2019.

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Shape-transformable, fusible rod-like swimming liquid metal nanomachine

Daolin Wang, Changyong Gao, Wei Wang, Mengmeng Sun, Bin Guo*, Hui Xie and Qiang He*
ACS Nano, 12(10), 10212-10220, 2018.

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High-precision automated micromanipulation and adhesive microbonding with cantilevered micropipette probes in dynamic probing mode

Hui Xie* , Hao Zhang, Jianmin Song, Xianghe Meng, Yongbing Wen, and Lining Sun
IEEE/ASME Transactions on Mechatronics, 23(3), 1425-1435, 2018.

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Magnetically actuated peanut colloid motors for cell manipulation and patterning

Zhihua Lin, Xinjian Fan, Mengmeng Sun, Changyong Gao, Qiang He*, and Hui Xie*
ACS Nano, 12 (3), 2539-2545, 2018.DOI ->

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Simultaneously measuring force and displacement: calibration of magnetic torque actuated microcantilevers for nanomechanical mapping

Xianghe Meng, Hao Zhang, Jianmin Song, Yongbing Wen, Lining Sun, and Hui Xie*
IEEE Sensors Journal,18(7), 2682-2689, 2018.

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Automated noncontact micromanipulation using magnetic swimming microrobots

Jianxin Fan, Mengmeng Sun, Zhihua Lin, Jianmin Song, Qiang He, Lining Sun, and Hui Xie*
IEEE Transactions on Nanotechnology, 17(4), 666-669, 2018.

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Self-propelled rolled-up polyelectrolyte multilayer microrockets

Narisu Hu, Mengmeng Sun, Xiankun Lin*, Changyong Gao, Bin Zhang, Ce Zheng, Hui Xie* , and Qiang He*
Advanced Functional Materials, **, 2018. DOI ->

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In-situ quantification the complex Poisson’s ratio of single cells using a magnetic-drive dynamic atomic force microscopy approach

Jianmin Song, Xianghe Meng, Hao Zhang, and Lining Sun, and Hui Xie*
IEEE Transactions on Nanotechnology, 17(4), 680-683, 2018.

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Ultrahigh-precision rotational positioning under a microscope: nanorobotic system, modeling, control, and applications

Haojian Lu, Wanfeng Shang, Hui Xie* , and Yajing Shen*
IEEE Transactions on Robotics, 34(2), 497-507, 2018.DOI ->

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In situ self-assembly of coacervate microdroplets into viable artificial cell wall with heritability

Dongyue Su, Xiaoman Liu, Lina Liu, Lei Wang, Hui Xie , Hao Zhang, Xianghe Meng, and Xin Huang*
Advanced Functional Materials, 28(10), **, 2018.

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Magnetically actuated rolling of star-shaped hydrogel microswimmer

Narisu Hu, Lefeng Wang, Wenhe Zhai, Mengmeng Sun, Hui Xie , Zhiguang Wu*, and Qiang He*
Macromolecular Chemistry and Physics, 219, **, 2018.

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Development of a novel long range piezoelectric motor based on double rectangular trajectories driving

Shupeng Wang, Weibin Rong*, Lefeng Wang, Zhichao Pei, Hui Xie* , and Lining Sun
Microsystem Technologies, 24(3): 1733-1742, 2018.

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Nanoscale mapping of the surface potential: multifrequency modulation open-loop Kelvin probe force microscopy

Hao Zhang, Xianghe Meng, Jianmin Song, Lining Sun, and Hui Xie*
IEEE Transactions on Nanotechnology, 17(4), 670-674, 2018.

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Broad modulus range nanomechanical mapping by magnetic-drive soft probes

Xianghe Meng, Hao Zhang, Jianmin Song, Xinjian Fan, Lining Sun, and Hui Xie*
Nature Communications, 8, 1944, 2017.DOI ->

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In situ gelation Induced death of cancer cells based on proteinosomes

Yuting Zhou, Jianmin Song, Lei Wang*, Xuting Xue, Xiaoman Liu, Hui Xie* , and Xin Huang*
Biomacromolecules, 18 (8), pp 2446-2453, 2017.DOI ->

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The hierarchical structure and mechanical performance of a natural nanocomposite material: the turtle shell

M. Chen, N. Hu, C. Zhou, X. Lin, Hui Xie*, and Q. He*
Colloids and Surfaces A: Physicochemical and Engineering Aspects, 520, 97-104, 2017.

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Optimizing the quality factor of quartz tuning fork force sensor for atomic force microscopy: impact of additional mass and mass rebalance

Danish Hussain, Jianmin Song, Hao Zhang, Xianghe Meng, Wen Yongbing, and Hui Xie*
IEEE Sensors Journal, 17(9), 2797–2806, 2017.

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Multiparametric kelvin probe force microscopy for the simultaneous mapping of surface potential and nanomechanical properties

Hui Xie* , Hao Zhang, Danish Hussain, Xianghe Meng, jianmin Song, and Lining Sun
Langmuir, 33 (11), 2725–2733, 2017.

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Polybenzoxazole nanofiber-reinforced moisture-responsive soft actuators

M. Chen, J. Frueh, D. Wang, X. Lin*, Hui Xie*, and Q. He*
Scientific Reports, 7(1), 769, 2017.

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Advances in the atomic force microscopy for critical dimension metrology

Danish Hussain, Khurshid Ahmad, Jianmin Song, and Hui Xie*
Measurement Science and Technology, 28(1), 012001, 2016.

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Capillary bridges and capillary forces between two axisymmetric power-law particles

Lefeng Wang, Fengting Su, Huichao Xu, Weibin Rong, andHui Xie*
Particuology, 27, 122-127, 2016.

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Development of three-dimensional atomic force microscope for sidewall structures imaging with controllable scanning density

Hui Xie* , Danish Hussain, Feng Yang, and Lining Sun
IEEE/ASME Transactions on Mechatronics, 21(1), 316-328, 2016.

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Atomic force microscope caliper for critical dimension measurements of micro and nanostructures through sidewall scanning

Hui Xie* , Danish Hussain, Feng Yang, and Lining Sun
Ultramicroscopy, 158, 8-16, 2015.

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Nanospot welding of carbon nanotubes using near-field enhancement effect of AFM probe irradiated by optical fiber probe laser

Lijun Yang*, Jianlei Cui*, Yang Wang, Chaojian Hou, Hui Xie , Xuesong Mei, Wenjun Wang, and Kedian Wang
RSC Advances, 5, 70, 56677-56685, 2015.

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Atomic force microscopy deep trench and sidewall imaging with an optical fiber probe

Hui Xie* , Danish Hussain, Feng Yang, and Lining Sun
Review of Scientific Instruments, 85, 123704, 2014.

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In situ quantification of living cell adhesion forces: single cell force spectroscopy with a nanotweezer

Hui Xie* , Munan Yin, Webin Rong, and Lining Sun
Langmuir, 30(10), 2952–2959, 2014.

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Mechanism of force mode dip-pen nanolithography

Haijun Yang, Hui Xie , Haixia Wu, Weibin Rong, Lining Sun, Shouwu Guo, and Huabin Wang
Journal of Applied Physics, 115, 174314, 2014.

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A nondestructive calibration method for maximizing the range and accuracy of AFM force measurement

Hui Xie* , Webin Rong, Aiwen Wu, and Lining Sun
Journal of Micromechanics and Microengineering, 24, 025005, 2014.

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A vacuum microgripping tool with integrated vibration releasing capability

Weibin Rong, Zenghua Fan, Lefeng Wang, Hui Xie , and Lining Sun
Review of Scientific Instruments, 85, 085002, 2014.

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Gentle and fast atomic force microscopy with piezoelectric scanning probe for nanorobotics applications

Juan Camilo Acosta*, Jérome Polesel-Maris, Francois Thoyer, Hui Xie, Sinan Haliyo, and Stéphane Régnier.
Nanotechonlogy, 24, 065502, 2013.

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High-efficiency automated nanomanipulation with parallel imaging/manipulation force microscopy

Hui Xie* , and Stéphane Régnier
IEEE Transactions on Nanotechnology, 11(1), 21–33, 2012. (Cover Story)

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Haptic teleoperation for 3D microassembly of spherical objects

Aude Bolopion*, Hui Xie , Sinan Haliyo, and Stéphane Régnier
IEEE/ASME Transactions on Mechatronics, 17(1), 116–127, 2012.

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Analysis of nanoscale mechanical grasping under ambient conditions

Hui Xie*, Pierre Lambert, and Stéphane Régnier
Journal of Micromechanics and Microengineering. 21, 045009, 2011. (IOP Selected)

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Development of a flexible robotic system for multiscale applications of micro/nanoscale manipulation and assembly

Hui Xie* , and Stéphane Régnier
IEEE/ASME Transactions on Mechatronics, 16(2), 266–276, 2011.

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In situ peeling of one-dimensional nanostructures using a dual-probe nanotweezer

Hui Xie* , and Stéphane Régnier
Review of Scientific Instruments, 81, 035112, 2010.

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Three-dimensional automated micromanipulation using a nanotip gripper with multi-feedback

Hui Xie* , and Stéphane Régnier
Journal of Micromechanics and Microengineering, 19, 075009, 2009. (IOP Selected)

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A versatile atomic force microscope for three-dimensional nanomanipulation and nanoassembly

Hui Xie* , Sinan Haliyo, and Stéphane Régnier
Nanotechnology, 20, 215301, 2009.

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Characterizing piezoscanner hysteresis and creep using optical levers and a reference nanopositioning stage

Hui Xie* , Micky Rakotondrabe, and Stéphane Régnier
Review of Scientific Instruments, 80, 046102, 2009.

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Parallel imaging/manipulation force microscopy

Hui Xie* , Sinan Haliyo, and Stéphane Régnier
Applied Physics Letters, 94, 153106, 2009.

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Enhanced accuracy of force application for AFM nanomanipulation using nonlinear calibration of the optical lever

Hui Xie* , Julien Vitard, Sinan Haliyo, and Stéphane Régnier
IEEE Sensors Journal, 8(8), 1478-1485, 2008.

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Optical lever calibration in atomic force microscope with a mechanical lever

Hui Xie* , Julien Vitard, Sinan Haliyo, and Stéphane Régnier
Review of Scientific Instruments, 79, 096101, 2008.

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Calibration of atomic force microscopy lateral force measurements with a piezoresistive force sensor

Hui Xie* , Julien Vitard, Sinan Haliyo, Stéphane Régnier, and Mehdi Boukallel
Review of Scientific Instruments, 79, 033708 (2008).

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A flexible experimental system for complex microassembly under microscale force and vision-based control

Hui Xie* , Lining Sun, and Weibin Rong
International Journal of Optomechatronics, 1, 81–101, 2007.

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Construction and evaluation of a new wavelet-based focus measure for microscopy imaging

Hui Xie* , Weibin Rong, and Lining Sun
Microscopy Research and Technique, 70(11): 987–995, 2007.

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Open positions
1. 博士招生:
每年招收博士生2名，研究方向：微纳操作机器人、微纳游动机器人。课题多来源于国家自然基金、科技部重大研发计划、国家国际合作项目等。欢迎有志于学术研究的学生报考。

2. 硕士招生:
每年招收硕士1－2名。研究方向：微纳操作机器人、微纳游动机器人。欢迎有志于学术研究的学生报考。

Equipments

Home-made Dual-probe AFM based Nanorobotic system (Dual-probe nanotweezer integrated with a fluorescence microscope and a Raman Spectrocscope (under construction))
Cell culture equipments
Commercial AFM
SEM (Shared with Prof. Rong)
Nanonis OC4 Dual Oscillation Controller

Keithley 2636B (1fA)
Low-noise preamplifier(Two-channels)
High-performance piezo-driver (Five-channels)
Other equipmentsSignal generator, oscilloscope, piezoscanner, Real-time NI-DAQ system, laser interferometer...



Links
Research Institutions Institut des Systèmes Intelligents et de Robotique (ISIR) at UPMC (Paris Univ. 06), Paris, France
The Institute of Robotics and Intelligent Systems (IRIS), ETHZ, Swissland

AS2M department of the FEMTO-st Institute, Besan？on, France

Nanorobotic Systems Lab, Michigan State University, USA

The Advanced Micro and Nanosystems Laboratory (AMNL), University of Toronto, Canada
The Nanophysics & Soft Matter Group, University of Bristol, UK
Division Microrobotics and Control Engineering, Universit？t Oldenburg, Germany

...
JournalsNature

Science

Science Robotics

Nature Nanotechnology

Nature Communications

PNAS

Science Advances

Physical Review Letters

International Journal of Robotics Research

IEEE Transactions on Robotics

IEEE/ASME Transactions on Mechatronics

IEEE Transactions on Industrial Electronics

IEEE Transactions on Nanotechnology

IEEE Transactions on Automation Science and Engineering

IEEE Transactions on Control Systems Technology
IEEE Sensors Journal

Nano Letters
ACS NANO

Small

Journal of Micromechanics and Microengineering

Sensors and Actuators (B)

Sensors and Actuators (A)

Review of Scientific Instruments

Nanotechnology

Applied Physics Letters

...

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Address

Room 507, Building C1
State Key Laboratory of Robotics and Systems
Harbin Institute of Technology
2 Yikuang Street, Nangang District
150080 Harbin, P. R. China