MiCRoN Project European Union Microsystems 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