Efficient visual servoing using scanning electron microscope feedback is a key challenge for high-throughput nanomanipulation. A novel position tracking approach bypasses image acquisition using dedicated line scans to detect the movement of a nanoobject or reference pattern. With a custom scan generator, update rates over 1 kHz are achieved and objects are tracked with an accuracy up to 10 nm over long travel ranges. Integrated into a microrobotic control infrastructure, the tracking approach facilitates high-speed closed-loop position and trajectory control. Evaluation measurements demonstrate the closed-loop positioning of a nanohandling robot in a few tens of milliseconds paving the way for industrial applications.
Maintaining large codebases can be a challenging endeavour. As new libraries, APIs and standards are introduced, old code is migrated to use them. To provide as clean and succinct an interface as possible for developers, old APIs are ideally removed as new ones are introduced. In practice, this becomes difficult as automatically finding and transforming code in a semantically correct way can be challenging, particularly as the size of a codebase increases.In this paper, we present a real-world implementation of a system to refactor large C++ codebases efficiently. A combination of the Clang compiler framework and the MapReduce parallel processor, ClangMR enables code maintainers to easily and correctly transform large collections of code. We describe the motivation behind such a tool, its implementation and then present our experiences using it in a recent API update with Google's C++ codebase.
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