Image based Online Tracking and Control of Nano-Manipulator for Collision Avoidance in Micro/Nano Assembly
IR@CEERI: CSIR-Central Electronics Engineering Research Institute, Pilani
View Archive Info| Field | Value | |
| Title |
Image based Online Tracking and Control of
Nano-Manipulator for Collision Avoidance in
Micro/Nano Assembly
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| Creator |
Sharma, HD
Pal, T |
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| Subject |
IC Design
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| Description |
Authors present development of online tracking and
control of nanomanipulator (MM3A
R ) tip to assist automation
of micro/nano assembly procedure. The development presented
here captures online images of the moving nanaomanipulator’s
tip, and then with a predefined application specific safety margin
it generates a visual attention region on the screen for tiptracking.
Any micro/nano object, featuring as low as one pixel
size, if comes within threshold region, it detects possibility of
collision and a visual event is generated to take hold of the
user attention. Its detection capability is limited only by vision
system’s resolution. Besides keeping track of safety margin, linear
speed of the tip is also computed online. Online information of
collision possibility and tip speed allows user to modify necessary
controls to bring more safety in manipulation of costly and
very delicate parts of the system. It also saves time and cost
by avoiding unnecessary attention and collisions. It has been
practically demonstrated in an experimental set up of Nanomanipulator
(MM3A) working in sub-micron accuracy, equipped
with a force measurement tip (FMT
R ), interacting with a microcantilever
spring under a light microscope.
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| Date |
2010
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| Type |
Conference or Workshop Item
PeerReviewed |
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| Format |
application/pdf
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| Identifier |
http://ceeri.csircentral.net/69/1/08_2010_%281%29.pdf
Sharma, HD and Pal, T (2010) Image based Online Tracking and Control of Nano-Manipulator for Collision Avoidance in Micro/Nano Assembly. In: 36th Annual Conference of IEEE Industrial Electronics (IECON-2010), November 7-10, 2010, Phoenix, Arizona, USA. (Submitted) |
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| Relation |
http://ceeri.csircentral.net/69/
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