亲爱的研友该休息了!由于当前在线用户较少,发布求助请尽量完整地填写文献信息,科研通机器人24小时在线,伴您度过漫漫科研夜!身体可是革命的本钱,早点休息,好梦!

Automating Robotic Micro-Assembly of Fluidic Chips and Single Fiber Compression Tests Based-on $XY\Theta$ Visual Measurement With High-Precision Fiducial Markers

符号 算法 基准标记 计算机科学 人工智能 数学 算术
作者
Antoine André,Olivier Lehmann,Jason Govilas,Guillaume J. Laurent,Hamdi Saadana,Patrick Sandoz,Vladimir Gauthier,Alexis Lefevre,Aude Bolopion,Joël Agnus,Vincent Placet,Cédric Clévy
出处
期刊:IEEE Transactions on Automation Science and Engineering [Institute of Electrical and Electronics Engineers]
卷期号:: 1-14 被引量:1
标识
DOI:10.1109/tase.2022.3218686
摘要

At small scales, automating robotic tasks such as assembly, force/displacement characterization, positioning, etc., appear to be particularly limited. This is due to the lack of sufficiently performing and easy-to-implement multi-degrees-of-freedom measurement systems able to measure the relative pose between micro-parts. In order to address this issue, a measurement method based on High-Precision fiducial markers (named HP code) is proposed. This measurement method combines a periodic pattern (providing high resolution by phase-based computation) with more regular QR codes (bringing versatile implementations and a quick detection). The design and method to efficiently locate these HP codes are presented in this paper. Experimental investigations demonstrate ultra-high resolution: $2$ nm and $5$ $\upmu$ rad along $X,Y$ and $\Theta$ respectively (i.e. one thousandth of a pixel typically). The method is designed to be scalable as well as self-calibrated and to provide high robustness and high versatility. Two typical challenging applications in the field of microrobotics are automated to demonstrate these disruptive performances and the easy-to-implement capability of the method: (1) the automated assembly of two micro-fluidic chips through visual servoing with an achieved positioning accuracy below $50$ nm, and (2) the automated micromechanical characterization of single fibers achieved by the integration of HP codes into a compliant structure enabling simultaneous micro-force and displacement sensing capabilities. These achievements highlight the versatility of the method and open the door to the rapid automation of high-quality robotic tasks at the micro scale. Note to Practitioners —The motivation for this work/study is based on the fact that many application areas are extensively orienting towards microrobotic systems to perform precise tasks with versatility. However, at the micro scale, many disturbances such as the effects of climate change strongly affect this precision. This problem is amplified by the fact that sensors cannot be easily integrated, either by lack of space or by the lack of measurement systems available. Vision-based approaches are widespread at this scale and appear very promising to measure the relative pose between micro-parts. Nevertheless, existing vision-based approaches like digital image correlation are both scale and texture dependent. Due to the lack of space, they are also difficult to use in practice at small scales for high resolution measurement. The main contribution of this paper lies in the capability to achieve ultra-high resolution measurements. For that, a structure based on High-Precision fiducial markers (named HP codes) is proposed and requires few and simple settings while achieving very high resolution both in position and orientation, typically down to one thousandth of a pixel and a few micro radians, respectively. It provides an off-the-shelf solution, versatile, easy to implement and achieves high resolution measurements in the plane (XY $\Theta$ ). HP codes are applicable to a wide range of applications such as tracking of a component/part of a mobile or deformable system, visual servoing of microrobots, positioning of samples, assembly of components or even mechanical characterization. A free distribution of the library is available online at https://projects.femto-st.fr/ vernier/.

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
32秒前
量子星尘发布了新的文献求助10
32秒前
40秒前
lena发布了新的文献求助10
44秒前
嗯对完成签到,获得积分10
46秒前
孙孙应助瘦瘦的寒珊采纳,获得10
49秒前
1分钟前
bkagyin应助科研通管家采纳,获得10
1分钟前
Jasper应助科研通管家采纳,获得10
1分钟前
香蕉觅云应助科研通管家采纳,获得10
1分钟前
科研通AI2S应助科研通管家采纳,获得10
1分钟前
bkagyin应助科研通管家采纳,获得10
1分钟前
隐形曼青应助lena采纳,获得10
1分钟前
风筝鱼完成签到 ,获得积分10
1分钟前
1分钟前
1分钟前
淡定白枫发布了新的文献求助10
1分钟前
zommen完成签到 ,获得积分10
1分钟前
run发布了新的文献求助10
1分钟前
研友_VZG7GZ应助淡定白枫采纳,获得10
1分钟前
1分钟前
淡定白枫完成签到,获得积分10
1分钟前
孙孙应助瘦瘦的寒珊采纳,获得10
2分钟前
Panther完成签到,获得积分10
2分钟前
量子星尘发布了新的文献求助10
2分钟前
孙孙应助瘦瘦的寒珊采纳,获得10
2分钟前
Ellen应助背后梦安采纳,获得30
2分钟前
002完成签到,获得积分10
2分钟前
2分钟前
孙孙应助瘦瘦的寒珊采纳,获得10
2分钟前
Asher发布了新的文献求助10
2分钟前
背后梦安完成签到,获得积分10
2分钟前
霖霖完成签到,获得积分10
2分钟前
morena发布了新的文献求助10
2分钟前
研友_VZG7GZ应助科研通管家采纳,获得30
3分钟前
wanci应助Asher采纳,获得10
3分钟前
3分钟前
苏小北完成签到 ,获得积分10
3分钟前
3分钟前
量子星尘发布了新的文献求助30
3分钟前
高分求助中
A new approach to the extrapolation of accelerated life test data 1000
Picture Books with Same-sex Parented Families: Unintentional Censorship 700
ACSM’s Guidelines for Exercise Testing and Prescription, 12th edition 500
Nucleophilic substitution in azasydnone-modified dinitroanisoles 500
不知道标题是什么 500
Indomethacinのヒトにおける経皮吸収 400
Phylogenetic study of the order Polydesmida (Myriapoda: Diplopoda) 370
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3976643
求助须知:如何正确求助?哪些是违规求助? 3520735
关于积分的说明 11204613
捐赠科研通 3257484
什么是DOI,文献DOI怎么找? 1798716
邀请新用户注册赠送积分活动 877897
科研通“疑难数据库(出版商)”最低求助积分说明 806613