The most important factor of autonomous mobile robot is to build a map for surrounding environment and estimate its localization. This paper proposes a real-time localization and map building method through 3-D reconstruction using scale invariant feature from single camera. Mobile robot attached monocular camera looking wall extracts scale invariant features in each image using SIFT(Scale Invariant Feature Transform) as it follows wall. Matching is carried out by the extracted features and matching feature map that is transformed into absolute coordinates using 3-D reconstruction of point and geometrical analysis of surrounding environment build, and store it map database. After finished feature map building, the robot finds some points matched with previous feature map and find its pose by affine parameter in real time. Position error of the proposed method was max. 6.2cm and angle error was within 5°.
In this paper, we developed a new mounting head system for a microchip such as flip chip. The
proposed head system consists of a macro/micro positioning actuator for stable force control. The macro
actuator provide the system with a gross motion while the micro device yields fine tuned motion to reduce
the harmful impact force that occurs between very small sized electronic parts and the surface of a
PCB(printed circuit board). In order to show the effectiveness of the proposed macro/micro mounting
system, we compared the proposed system with the conventional mounting head equipped with a macro
actuator only. A series of experiments were executed under the mounting conditions such as various
access velocities and PCB stiffness. As a result of this study, a satisfactory voice coil actuator as the
micro actuator has been developed , and its performance meet well the specifications desired for the
design of the microchip mounting head system and show good correspondence between theoretical
analysis and experimental results.
In these days, various researches for biomedical application of robots have been carried out. Particularly, robotic manipulation of the biological cells has been studied by many researchers. Usually, most of the biological cell's shape is sphere. Commercial biological manipulation systems have been utilized the 2-Dimensional images through the optical microscopes only. Moreover, manipulation of the biological cells mainly depends on the subjective viewpoint of an operator. Due to these reasons, there exist lots of problems such as slippery and destruction of the cell membrane and damage of the pipette tip etc. In order to overcome the problems, we have proposed a vision-guided biological cell manipulation system. The newly proposed manipulation system makes use of vision and graphic techniques. Through the proposed procedures, an operator can inject the biological cell scientifically and objectively. Also, the proposed manipulation system can measure the contact force occurred at injection of a biological cell. It can be transmitted a measured force to the operator by the proposed haptic device. Consequently, the proposed manipulation system could safely handle the biological cells without any damage. This paper presents the introduction of our vision-guided manipulation techniques and the concept of the contact force sensing. Through a series of experiments the proposed vision-guided manipulation system shows the possibility of application for precision manipulation of the biological cell such as DNA.
This paper presents a superelastic alloy microgripper with integrated electromagnetic actuators and piezoelectric sensors. The design parameters for electromagnetic actuators in the microgripper are selected based on the sensitivity analysis using FEM analysis. For integration of miniature force sensors in the microgripper, the sensor design based on the piezoelectric polymer PVDF film and fabrication process are also presented. Electro discharge machining technology is employed to fabricate the microgripper structure made of superelastic NiTi alloy. The experimental setup is implemented to evaluate the performance of the fabricated force sensors and electromagnetic actuators integrated into the microgripper. Finally, results of finite element computer simulations for electromagnetic actuators and piezoelectric polymer sensors are compared with experimental results.
Conference Committee Involvement (3)
Optomechatronic Systems Control IV
20 November 2008 | San Diego, California, United States
Optomechatronic Micro/Nano Devices and Components II
4 October 2006 | Boston, Massachusetts, United States
Optomechatronic Micro/Nano Components, Devices, and Systems
27 October 2004 | Philadelphia, Pennsylvania, United States
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