Visual servoing for micro-manipulation
نویسندگان
چکیده
A framework for automated micromanipulation of microscopic objects using visual information is developed and applied to diverse problems in biology and material science. These applications include microdissection of stretched and immobilized DNA molecules using an optical microscope and dynamic studies of crystal structure formation observed with a high power transmission electron microscope. Manipulation in this context refers not only to mechanical positioning or dissection of a specimen, but also to the variation of environmental parameters that elicit a response in the specimen. The common thread between these applications is a collection of computational techniques for image compression, autofocusing, object detection, tracking, and servo loop control. A second feature of our system is a distributed software architecture that allows the proposed dynamic experiments to be conducted remotely over the wide area network. In this context, the visual information processing is used to compensate for dynamic changes and the latencies in the wide area network. This system is now available over the global Internet.
منابع مشابه
Design and Experimental Validation of a Hybrid Micro Tele-Manipulation System
This paper presents analytical and experimental results on a new hybrid tele-manipulation environment for micro-robot control under nonholonomic constraints. This environment is comprised of a haptic telemanipulation subsystem (macro-scale motion), and a visual servoing subsystem, (micro-scale motion) under the microscope. The first subsystem includes a 5-dof (degrees of freedom) force feedback...
متن کاملThe Improved SVM Multi Objects’s Identification For the Uncalibrated Visual Servoing
For the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction algorithm based on rough set’s discernibility matrix to obtain attribute reduction, with using su...
متن کاملContactless automated manipulation of mesoscale objects using opto-fluidic actuation and visual servoing.
This work describes an automated opto-fluidic system for parallel non-contact manipulation of microcomponents. The strong dynamics of laser-driven thermocapillary flows were used to drag microcomponents at high speeds. High-speed flows allowed to manipulate micro-objects in a parallel manner only using a single laser and a mirror scanner. An automated process was implemented using visual servoi...
متن کاملEnabling Low-Cost Microassembly using Visual Feedback
The constant reduction in the size of mechanical and electrical components has enabled the construction of smaller mechanical systems. However, the current assembly process of these millimeter and micro-scaled systems is time-consuming and imprecise. In order to simplify the process an automated low-cost rapid prototyping called Orthotweezer is being developed. This paper discusses enhancements...
متن کاملApplication of Visual Servo Control in Autonomous Mobile Rescue Robots
Abstract: Mobile robots that integrate visual servo control for facilitating autonomous grasping and manipulation are the focus of this paper. In view of mobility, they have wider application than traditional fixed-based robots with visual servoing. Visual servoing is widely used in mobile robot navigation. However, there are not so many report for applying it to mobile manipulation. In this pa...
متن کاملVisuo-Tactile Servoing for Exploration and Manipulation
We present a hierarchical control framework to allow for robust manipulation and exploration of objects with unknown shape, mass, and friction. The framework is divided into 3 layers: joint-level, tactile servoing, and visual servoing. While the middle layer provides “blind” surface exploration skills, maintaining desired contact patterns, the visual layer monitors and controls the actual objec...
متن کامل