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The MiCRoN Project

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Jan Wedekind
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Materials and Engineering Innovation The MiCRoN Project -1- day, 19th Jan 2005 The MiCRoN Project Microsystem & Machine Vision Laboratory 19th Jan 2005 MMVL http://www.shu.ac.uk/research/meri/mmvl/ MRC http://www.shu.ac.uk/research/meri/modelling_rc.html MERI http://www.shu.ac.uk/research/meri/ SHU http://www.shu.ac.uk/ Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project -2- day, 19th Jan 2005 MiCRoN European Union IST project Uppsala, Lausanne, St. Ingbert, Athens, Pisa, Barcelona, Karlsruhe project goals • Manipulate µm-sized objects • Closed-loop control of robots • 3D object recognition and tracking image acquisition • micro-camera http://wwwipr.ira.uka.de/~micron/ • microscope http://www.cordis.lu/ist/ Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project -3- day, 19th Jan 2005 Scuola Superiore Sant’Anna (Italy) * Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project -4- day, 19th Jan 2005 Uppsala University (Sweden) Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project -5- day, 19th Jan 2005 Ecole Polytechnique F´d´rale de Lausanne (Swiss) e e * Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project -6- day, 19th Jan 2005 Fraunhofer Institute, St. Ingbert (Germany) Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project -7- day, 19th Jan 2005 Karlsruhe University (Germany) Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project -8- day, 19th Jan 2005 National Technical University of Athens (Greece) Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project -9- day, 19th Jan 2005 University of Barcelona (Spain) Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 10 - day, 19th Jan 2005 geometric hashing (i) Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 11 - day, 19th Jan 2005 geometric hashing (ii) Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 12 - day, 19th Jan 2005 geometric hashing (iii) 3-D / 3 DOF   1 VM (  , (m1 , m2 )) 1 x2 s2 m2 s1 1 0 0 3 x1 α 4 t m1 m1 m2 Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 13 - day, 19th Jan 2005 geometric hashing (iv) Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 14 - day, 19th Jan 2005 bounded hough transform (i) inverse transformation Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 15 - day, 19th Jan 2005 bounded hough transform (ii) houghspace for relative shifts Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 16 - day, 19th Jan 2005 depth perception) focus stacks for 4 DOF Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 17 - day, 19th Jan 2005 tests gripper * Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 18 - day, 19th Jan 2005 tests gripper2 * Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 19 - day, 19th Jan 2005 MiCRoN setup Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 20 - day, 19th Jan 2005 Sheffield Hallam University Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 21 - day, 19th Jan 2005 Graphical User Interface Microsystem & Machine Vision Modelling Research Centre Laboratory
Materials and Engineering Innovation The MiCRoN Project - 22 - day, 19th Jan 2005 MiCRoN robot * http://vision.eng.shu.ac.uk/mediawiki/ Microsystem & Machine Vision Modelling Research Centre Laboratory

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The MiCRoN Project

  • 1. Materials and Engineering Innovation The MiCRoN Project -1- day, 19th Jan 2005 The MiCRoN Project Microsystem & Machine Vision Laboratory 19th Jan 2005 MMVL http://www.shu.ac.uk/research/meri/mmvl/ MRC http://www.shu.ac.uk/research/meri/modelling_rc.html MERI http://www.shu.ac.uk/research/meri/ SHU http://www.shu.ac.uk/ Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 2. Materials and Engineering Innovation The MiCRoN Project -2- day, 19th Jan 2005 MiCRoN European Union IST project Uppsala, Lausanne, St. Ingbert, Athens, Pisa, Barcelona, Karlsruhe project goals • Manipulate µm-sized objects • Closed-loop control of robots • 3D object recognition and tracking image acquisition • micro-camera http://wwwipr.ira.uka.de/~micron/ • microscope http://www.cordis.lu/ist/ Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 3. Materials and Engineering Innovation The MiCRoN Project -3- day, 19th Jan 2005 Scuola Superiore Sant’Anna (Italy) * Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 4. Materials and Engineering Innovation The MiCRoN Project -4- day, 19th Jan 2005 Uppsala University (Sweden) Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 5. Materials and Engineering Innovation The MiCRoN Project -5- day, 19th Jan 2005 Ecole Polytechnique F´d´rale de Lausanne (Swiss) e e * Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 6. Materials and Engineering Innovation The MiCRoN Project -6- day, 19th Jan 2005 Fraunhofer Institute, St. Ingbert (Germany) Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 7. Materials and Engineering Innovation The MiCRoN Project -7- day, 19th Jan 2005 Karlsruhe University (Germany) Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 8. Materials and Engineering Innovation The MiCRoN Project -8- day, 19th Jan 2005 National Technical University of Athens (Greece) Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 9. Materials and Engineering Innovation The MiCRoN Project -9- day, 19th Jan 2005 University of Barcelona (Spain) Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 10. Materials and Engineering Innovation The MiCRoN Project - 10 - day, 19th Jan 2005 geometric hashing (i) Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 11. Materials and Engineering Innovation The MiCRoN Project - 11 - day, 19th Jan 2005 geometric hashing (ii) Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 12. Materials and Engineering Innovation The MiCRoN Project - 12 - day, 19th Jan 2005 geometric hashing (iii) 3-D / 3 DOF   1 VM (  , (m1 , m2 )) 1 x2 s2 m2 s1 1 0 0 3 x1 α 4 t m1 m1 m2 Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 13. Materials and Engineering Innovation The MiCRoN Project - 13 - day, 19th Jan 2005 geometric hashing (iv) Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 14. Materials and Engineering Innovation The MiCRoN Project - 14 - day, 19th Jan 2005 bounded hough transform (i) inverse transformation Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 15. Materials and Engineering Innovation The MiCRoN Project - 15 - day, 19th Jan 2005 bounded hough transform (ii) houghspace for relative shifts Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 16. Materials and Engineering Innovation The MiCRoN Project - 16 - day, 19th Jan 2005 depth perception) focus stacks for 4 DOF Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 17. Materials and Engineering Innovation The MiCRoN Project - 17 - day, 19th Jan 2005 tests gripper * Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 18. Materials and Engineering Innovation The MiCRoN Project - 18 - day, 19th Jan 2005 tests gripper2 * Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 19. Materials and Engineering Innovation The MiCRoN Project - 19 - day, 19th Jan 2005 MiCRoN setup Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 20. Materials and Engineering Innovation The MiCRoN Project - 20 - day, 19th Jan 2005 Sheffield Hallam University Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 21. Materials and Engineering Innovation The MiCRoN Project - 21 - day, 19th Jan 2005 Graphical User Interface Microsystem & Machine Vision Modelling Research Centre Laboratory
  • 22. Materials and Engineering Innovation The MiCRoN Project - 22 - day, 19th Jan 2005 MiCRoN robot * http://vision.eng.shu.ac.uk/mediawiki/ Microsystem & Machine Vision Modelling Research Centre Laboratory