Lianqing Liu Ning Xi Yilun Luo Yuechao Wang Jiangbo Zhang Guangyong Li Detection and real-time correction of faulty visual feedback in atomic force microscopy based nanorobotic manipulation. 431-436 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543245 conf/icra/2008 db/conf/icra/icra2008.html#LiuXLWZL08