A vision-based micromanipulation system for autonomous inspection and assembly of micro-parts

基于视觉的微操作系统，用于微型零件的自主检测和组装

• 批准号: 345206-2007
• 负责人: JanabiSharifi, Farrokh
• 金额: $ 3.23万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments - Category 1 (<$150,000)
• 财政年份: 2006
• 资助国家: 加拿大
• 起止时间: 2006-01-01 至 2007-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=326160
• 关键词: vision; based; micromanipulation; system; autonomous

The proposed equipment consists of a micromanipulator with probes, a camera, a force feedback device, a haptic device, a router, data acquisition cards, and auxiliary software. The proposed equipment will be integrated with the applicant's existing equipment to provide a vision-based autonomous micromanipulation facility with teleoperation capability, a state-of-the-art and versatile experimental facility for researchers at Ryerson and, even, other universities. The facility will be primarily used to support research programs focusing on testing new image-based inspection, manipulation, and teleopration methods for objects in micro-scale. With the rapid growth of micro-technology, autonomous micromanipulation becomes an emerging interest in inspecting, constructing and assembling micro-objects in large volume such as microelectromechanical systems (MEMS) products and biological elements.    The following topics will be tackled in the aforementioned research programs using the proposed experimental facility: (1) performance analysis of vision-based control methods and development of a robust visual servo-control system with a hybrid force-vision control strategy for micromanipulation of objects in micro-scale; (2) development of an Internet-based telerobotic control and guidance system with force-reflective visual servo-control for tele-micromanipulation; and (3) design, inspection, and test of micro-structures, micro-electronic components, microscopic biological structures, and MEMS products.      In addition to the applicant and co-applicants, graduate and senior undergraduate students will use this facility to learn emerging vision-based MEMS technology and experiments by developing micro-scale inspection and assembly techniques. Furthermore, the developed facility could be used for fabricating templates and prototyping micro-devices. This new facility will further expand Ryerson's research and education in multi-disciplinary areas, focusing on emerging opportunities at the interfaces between mechanical, electrical, and biomedical engineering.

建议的设备包括一个显微操作器与探针，摄像头，力反馈装置，触觉装置，路由器，数据采集卡和辅助软件。拟议的设备将与申请人现有的设备集成，以提供一个基于视觉的自主微操作设施，具有远程操作能力，为瑞尔森大学甚至其他大学的研究人员提供最先进的多功能实验设施。该设施将主要用于支持研究项目，重点是测试新的基于图像的检测，操纵和微尺度物体的远程操作方法。随着微技术的快速发展，自主微操作技术在微机电系统（MEMS）产品和生物元件等大批量微物体的检测、构造和组装中成为一个新兴的研究热点。 利用该实验装置进行的上述研究计划将解决以下问题：（1）基于视觉的控制方法的性能分析和具有混合力-视觉控制策略的鲁棒视觉伺服控制系统的开发，用于微尺度物体的微操作;（2）开发了一种基于Internet的遥操作机器人控制与导航系统，该系统具有力反馈视觉伺服控制功能;（3）微结构、微电子元器件、微生物结构和MEMS产品的设计、检测和测试。 除了申请人和共同申请人，研究生和高年级本科生将使用该设施，通过开发微尺度检测和组装技术来学习新兴的基于视觉的MEMS技术和实验。此外，开发的设备可用于制造模板和原型微型器件。这个新设施将进一步扩大瑞尔森在多学科领域的研究和教育，重点关注机械，电气和生物医学工程之间接口的新兴机会。