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CAD Model-based Tracking and 3D Visual-based Control for MEMS Microassembly

B. Tamadazte, E. Marchand, S. Dembélé, N. Le Fort-Piat
2010 The international journal of robotics research  
The 3D poses of the MEMS are supplied in real-time by a computer-aided design (CAD) model-based tracking algorithm.  ...  In this paper, the relevance of the real-time 3D visual tracking method and the 3D vision-based control law proposed is demonstrated.  ...  The authors thank Miss Joanna Farrow, English teacher at ENSMM (National Engineering School of Mechanics and Microtechnics) of Besançon for these multiple proof-reading of this paper.  ... 
doi:10.1177/0278364910376033 fatcat:vdrjw646xvdd3l3bhucbz43yya

Microassembly of complex and solid 3D MEMS by 3D vision-based control

Brahim Tamadazte, Nadine Le Fort-Piat, Sounkalo Dembele, Eric Marchand
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Each of these microassembly tasks is performed using a posebased visual control. To be able to control the microassembly process, a 3D model-based tracker is used.  ...  This paper describes the vision-based methods developed for assembly of complex and solid 3D MEMS (micro electromechanical systems) structures.  ...  It has been proved that the CAD model-based tracking is essential for robust and accuracy microscale visual servoing system.  ... 
doi:10.1109/iros.2009.5354488 dblp:conf/iros/TamadazteFDM09 fatcat:xeycmj2xqnc4dczotqmq3v5zzi

Real-time vision-based microassembly of 3D MEMS

Brahim Tamadazte, Thomas Arnould, Sounkalo Dembele, Nadine Le Fort-Piat, Eric Marchand
2009 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics  
In this paper the relevance of the real-time 3D visual tracking and control is demonstrated. The 3D poses of the MEMS is supplied by a model-based tracking algorithm in real-time.  ...  To date, solutions proposed in the literature are based on 2D visual control because of the lack of accurate and robust 3D measures from the work scene.  ...  The parts are tracked in realtime by means of an algorithm based on their CAD model.  ... 
doi:10.1109/aim.2009.5230034 fatcat:o5c5oe4chfgwhg6glneaxj5yaq

A Multiscale Calibration of a Photon Videomicroscope for Visual Servo Control: Application to MEMS Micromanipulation and Microassembly

Brahim TAMADAZTE, Sounkalo DEMBÉLÉ, Nadine PIAT
2009 Sensors & Transducers  
For many years, the increasing development of microcomponents based products requires more and more microassembly systems to permit the assembly of micrometric parts and MEMS.  ...  In a second part, these microparts are assembled by a 3D visual control approach. High precision, repeatable results are obtained during the MEMS manipulation and assembly tasks.  ...  Acknowledgements This work is partially conducted with financial support from the project Hybrid Ultra Precision Manufacturing Process Based on Positional and Self assembly for Complex Micro-Products (  ... 
doaj:ee61e3a8163a481187861c3f9b151b80 fatcat:g3wcmyxd6vhinlszjtvfyxapyy

Characterization of Model-Based Visual Tracking Techniques for MOEMS Using a New Block Set for MATLAB/Simulink

Andrey V. Kudryavtsev, Guillaume J. Laurent, Cedric Clevy, Brahim Tamadazte, Philippe Lutz
2014 2014 International Symposium on Optomechatronic Technologies  
These algorithms allows to get the 3D object pose using a single view of the scene and the CAD model of the object.  ...  The performance of three main types of modelbased trackers is analyzed and quantified: edge-based, texturebased and hybrid tracker. The problems of visual tracking in microscale are discussed.  ...  Thus, the goal of this paper is to implement CAD-based visual tracking techniques and to quantify its performances for further automation of microassembly.  ... 
doi:10.1109/isot.2014.47 fatcat:kpnuonok4nevle6bfdjlhiljhi

A Review on Microscopic Visual Servoing for Micromanipulation Systems: Applications in Micromanufacturing, Biological Injection, and Nanosensor Assembly

Sha, Sun, Zhao, Li, Li
2019 Micromachines  
, depth information, and visual servoing control.  ...  Over the past two decades, it has been widely applied in the fields of MEMS (microelectromechanical systems), bioengineering, and microdevice integration and manufacturing.  ...  Visual feedback in automated microinjection is generally used in two ways: (1) detection and tracking of the object with derivative functions including cell modeling, injection process tracking and 3D  ... 
doi:10.3390/mi10120843 pmid:31810244 pmcid:PMC6953108 fatcat:feyu455qdvh2nhfyvwrhrthfp4

A new spatial angle assembly method of the ICF target

Wenrong Wu, Lie Bi, Kai Du, Juan Zhang, Honggang Yang, Honglian Wang
2017 High Power Laser Science and Engineering  
To meet these needs, we present a new spatial angle assembly method, using target part's 3D model-based dual orthogonal camera vision, which is better suited for the flexible automation of target assembly  ...  The two-hands structure micromanipulate system and dual orthogonal structure visual feedback system were investigated by considering the kinematics, spatial angle measuring, and motion control in an integrated  ...  Acknowledgements The authors are grateful to the Director, RCLF-CAEP, Mianyang, Sichuan, China for granting permission to publish this paper.  ... 
doi:10.1017/hpl.2017.3 fatcat:ghhvaoi3ojeatpnw3welmizy6a

MEMS design simplification with virtual prototyping

Renate Sitte
2016 Facta universitatis - series Electronics and Energetics  
This paper analyzes the benefits of Virtual Prototyping for a simplification and aid in MEMS design and proposes the continuation of MEMS Animated Graphic Design Aid (MAGDA) project.  ...  Its purpose is to simplify preliminary design stages and make MEMS design more accessible to a wider audience.  ...  For the Control and interaction of the MEMS (systems modelling) Simulink is suitable.  ... 
doi:10.2298/fuee1601011s fatcat:k6vmrjepofdyjdxxiqo4tvyscy

Technology platform for hybrid integration of MOEMS on reconfigurable silicon micro-optical table

S. Bargiel, K. Rabenorosoa, J-P. Mascaro, C. Clévy, C. Gorecki, P. Lutz
2010 Procedia Engineering  
The new method for measuring of position of assembled holder, based on laser triangulation displacement sensor, is described.  ...  The holders are manipulated by 3D micro-assembly station with active microgripper, then aligned with nanometer precision within the guiding rails of silicon baseplate, and finally fixed by release of integrated  ...  Using a newly developed 3D microassembly station, the holder can be actively aligned with nanometer precision along the rails and finally fixed by releasing of the mechanical locking system (snap connector  ... 
doi:10.1016/j.proeng.2010.09.138 fatcat:cimfe73jgzg45dcro72hhwuw5a

Robotic microassembly and micromanipulation at FEMTO-ST

J. Agnus, N. Chaillet, C. Clévy, S. Dembélé, M. Gauthier, Y. Haddab, G. Laurent, P. Lutz, N. Piat, K. Rabenorosoa, M. Rakotondrabe, B. Tamadazte
2013 Journal of Micro-Bio Robotics  
Force control has been also analyzed and is proposed for optical Microsystems assembly.  ...  Closed loop control based on micro-vision has been studied and applied on the fully automatic assembly of several 400 microns objects.  ...  A CAD model of the microparts based tracking from [10] is used.  ... 
doi:10.1007/s12213-013-0065-5 fatcat:gieu5lpbm5brfd4kv5z6zvpfee

Guest Editorial Introduction to the Focused Section on Optomechatronics

Farrokh Janabi-Sharifi, Hyungsuck Cho, Toshio Fukuda
2010 IEEE/ASME transactions on mechatronics  
The microassembly work cell was designed by combination of visual force/position servoing and reconstruction of a virtual microworld model from the 3-D CAD/CAM model of the environment.  ...  [35] presented an approach for automatic visually guided teleoperation in microassembly tasks.  ... 
doi:10.1109/tmech.2010.2052283 fatcat:s7ybg67rm5afbci67jcrotj7iy

6D Pose Estimation of Objects: Recent Technologies and Challenges

Zaixing He, Wuxi Feng, Xinyue Zhao, Yongfeng Lv
2020 Applied Sciences  
We divided these methods into two approaches: Learning-based approaches and non-learning-based approaches, including 2D-information-based approach and 3D-information-based approach.  ...  6D pose estimation is a common and important task in industry. Obtaining the 6D pose of objects is the basis for many other functions such as bin picking, autopilot, etc.  ...  In [73] , research was carried out on tracking and control for micro-electro-mechanical system (MEMS) microassembly.  ... 
doi:10.3390/app11010228 fatcat:ndg7yn3i4vfjfbmyvuu2zoelcy

Cyber-Physical Systems for Micro-/Nano-assembly Operations: a Survey

Jose A Mulet Alberola, Irene Fassi
2021 Current Robotics Reports  
IoT-based frameworks with VR/AR technologies allow distributed and collaborative systems, or agent-based architectures with advance algorithm implementations that improve the flexibility and performance  ...  Purpose of Review Latest requirements of the global market force manufacturing systems to a change for a new production paradigm (Industry 4.0).  ...  This last work introduces a vision feedback strategy based on a real-time visual tracking algorithm used by the association of 2D features taken from images and their correspondence in the CAD model for  ... 
doi:10.1007/s43154-020-00041-2 fatcat:xibxs2dtcna2rj3u7a6i3x2swi

VREM: An advanced virtual environment for micro assembly

J. Cecil, James Jones
2014 The International Journal of Advanced Manufacturing Technology  
In this paper, the design of VREM (Virtual Reality based Environment for Micro Assembly) is discussed which is based on this integrated approach involving use of virtual and physical resources.  ...  Given the complexity of this domain, the role of virtual environments becomes important as they provide a basis to propose and compare assembly alternatives virtually prior to physical assembly.  ...  Acknowledgments This research work was supported through grants from the National Science Foundation (NSF Grants 0965153, 0951421, 1032359, and 1256431), Sandia National Laboratories and Los Alamos National  ... 
doi:10.1007/s00170-014-5618-9 fatcat:vqsdizmy35axdd53hmnnijymge

Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

Eunhye Kim, Masaru Kojima, Liu Xiaoming, Takayuki Hattori, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai
2017 ROBOMECH Journal  
We analyzed the velocity toward to the root of the end effector and angular velocity around the end effector by formulating models.  ...  By changing the amplitude and frequency of the circular motion, the generated swirl flow is analyzed in 3D space using 9.6-μm microbeads.  ...  Acknowledgements This work was supported by Grant-in-Aid for Scientific Research on Innovative Areas "Bio Assembler" (JP23106005) and Grant-in-Aid Scientific Research (A) (JP16H02321) from the Ministry  ... 
doi:10.1186/s40648-017-0074-6 fatcat:djmq5xiwhbfsnno75tmezvd4ui
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