Enhancement of visual sensing and servoing for micromanipulation

• Main Author: Sun, Wen Ting
• Other Authors: Chin Teck Chai
• Format: Theses and Dissertations
• Language: English
• Published: 2010
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: https://hdl.handle.net/10356/41440
• Institution: Nanyang Technological University

Micromanipulation is critical to many growing technologies, such as microsurgery, microelectronics, MEMS, life sciences etc. However it is very difficult for the operator to carry out micromanipulation tasks, he does not have direct access to the micro world, either can he feel or hear a tool interacting with the target, so that sensory input such as vision and force sensing has to be relied on. On the other hand, the scale difference between the micro world and the macro world, the reduced depth of field of micro imaging system make perception a particular problem for micromanipulation. Moreover, the need for large travel ranges and reconfigurable systems introduces kinematics uncertainties, which make the automated operations for micromanipulation such as positioning, pick and place difficult especially when large motion range and small positioning accuracy are both required. Hence, there is a necessity to improve the perception and automating many of the low level tasks to assist the human.