Image based Online Tracking and Control of Nano-Manipulator for Collision Avoidance in Micro/Nano Assembly

Sharma, HD and Pal, T (2010) Image based Online Tracking and Control of Nano-Manipulator for Collision Avoidance in Micro/Nano Assembly. In: 36th Annual Conference of IEEE Industrial Electronics (IECON-2010), November 7-10, 2010, Phoenix, Arizona, USA. (Submitted)

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Abstract

Authors present development of online tracking and control of nanomanipulator (MM3A R ) tip to assist automation of micro/nano assembly procedure. The development presented here captures online images of the moving nanaomanipulator’s tip, and then with a predefined application specific safety margin it generates a visual attention region on the screen for tiptracking. Any micro/nano object, featuring as low as one pixel size, if comes within threshold region, it detects possibility of collision and a visual event is generated to take hold of the user attention. Its detection capability is limited only by vision system’s resolution. Besides keeping track of safety margin, linear speed of the tip is also computed online. Online information of collision possibility and tip speed allows user to modify necessary controls to bring more safety in manipulation of costly and very delicate parts of the system. It also saves time and cost by avoiding unnecessary attention and collisions. It has been practically demonstrated in an experimental set up of Nanomanipulator (MM3A) working in sub-micron accuracy, equipped with a force measurement tip (FMT R ), interacting with a microcantilever spring under a light microscope.

Item Type:	Conference or Workshop Item (Paper)
Subjects:	?? TK ?? Semiconductor Devices > IC Design
Divisions:	Semiconductor Devices
Depositing User:	Mr. Rabin Chatterjee
Date Deposited:	23 May 2013 09:01
Last Modified:	23 May 2013 09:01
URI:	http://ceeri.csircentral.net/id/eprint/69

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