The document describes the MiCRoN Project, a European Union funded project aimed at manipulating micro-sized objects. The project involves several European universities and research institutions working towards goals of closed-loop control of micro-robots, 3D object recognition and tracking at the micro-level. Key areas discussed include micro-camera image acquisition, geometric hashing algorithms for object recognition and tracking in 3D, bounded Hough transforms, using focus stacks to enable depth perception, and tests of micro-grippers.

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