A RESEARCH ON HIGH SPEED MICRO VISUAL FEEDBACK

本课题的研究目的是基于自主研发的大规模并行高速视觉芯片和1ms视觉反馈系统，构建一个微操作系统，系统化微观世界中高速智能视觉反馈所需的算法和控制理论。实际上我们研制了一套高速显微视觉反馈系统，通过系统化1）主动传感方法，2）高速图像处理方法，3）显微世界的高速视觉反馈方法，建立了高速显微视觉反馈技术，并于1998年建立了实现高速显微视觉反馈的试验台系统，开发了显微目标识别与跟踪算法。1999年我们建立了微操作机器人运动的动力学模型，并在此基础上提出了一种控制方法，使系统能够识别微操作机器人与环境的关系。2000年我们实现了对一个运动的原生动物在微观世界中的高速跟踪，讨论了激光跟踪的微观世界三维目标跟踪方法，系统化了高速显微视觉反馈技术。

The aim of this research is to build a micro-operation system based on our massively parallel and high-speed vision chip and 1ms visual feedback system, and to systematize algorithms and control theories required to high speed and intelligent visual feedback in microscopic world. In fact we develop a high speed micro visual feedback system, and build high speed micro visual feedback technique by systematizing 1) active sensing method, 2) high speed image processing method, 3) high speed visual feedback method for microscopic world.In 1998 we built a test bed system to realize high speed micro visual feedback, and developed target recognition and tracking algorithm for micro objects. In 1999 we constructed a dynamic model of moving micro objects, and proposed a control method based on it, by which we can make the system recognize the relation between micro manipulator and its environment. In 2000 we realized high speed tracking of a moving protozoon in microscopic world, discuss the 3D target tracking method in microscopic world for laser tracking, an systematize technologies about high speed micro visual feedback.