1-ms Three-Dimensional Feedback Microscope With 69-kHz Synchronous Modulation of Focal Position and Illumination

Yamato, Kazuki; Chiba, Hiroyuki; Yamashita, Toshihiko; Oku, Hiromasa

doi:10.1109/lra.2018.2792151

Cited by 5 publications

(3 citation statements)

References 17 publications

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“…The method of calculating the depth information from two focal planes will be described briefly here. The calculation algorithm that we used was the one described in [17]. Let the focal plane photographed with the TeCE camera be Ii.…”

Section: Methodsmentioning

confidence: 99%

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Fast Volumetric Feedback under Microscope by Temporally Coded Exposure Camera

Yamato

Yamashita

Chiba

et al. 2019

Sensors

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We developed a temporally coded exposure (TeCE) camera that can cope with high-speed focus variations of a tunable acoustic gradient index (TAG) lens. The TeCE camera can execute a very short exposure multiple times at an arbitrary timing during one shot. Furthermore, by accumulating the photoelectrons generated by each exposure, it is possible to maintain the brightness even with a short exposure time. By synchronously driving the TeCE camera and the TAG lens, different focal planes of an observation target can be acquired at high speed. As a result, high-speed three-dimensional measurement becomes possible, and this can be used for feedback of three-dimensional information. In the work described in this paper, we conducted a focus tracking experiment to evaluate the feedback performance of the TeCE camera. From the experimental results, we confirmed the feedback capability of the TeCE camera.

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Section: Methodsmentioning

confidence: 99%

“…To solve this problem, a method was proposed to synchronize RGB strobe illumination with the focus fluctuation of the TAG lens [16,17]. This method realizes the same effect as short-time exposure by illuminating the object only when the TAG lens reaches a specific focal position.…”

Section: Introductionmentioning

confidence: 99%

Fast Volumetric Feedback under Microscope by Temporally Coded Exposure Camera

Yamato

Yamashita

Chiba

et al. 2019

Sensors

Self Cite

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“…The motion of the obstacle can be fully identified by ξ(t). Modern vision-based solutions can be used to track the position, orientation and shape of moving obstacles at a very high sampling rate [33]. For the purpose of designing an MPC controller, it is expedient to be able to predict the future trajectories of ξ(t) using past observations.…”

Section: A Obstacle Tracking and Motion Predictionmentioning

confidence: 99%

Context-aware robotic arm using fast embedded model predictive control

Trimble

Naeem

McLoone

et al. 2020

2020 31st Irish Signals and Systems Conference (ISSC)

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The growing number of collaborative robotics in unstructured environments creates highly nonconvex nonlinear shared dynamical systems. For safety and speed, path planning and collision avoidance are of the utmost importance in these situations. We present a novel nonlinear MPC solution for use on a three-dimensional four-axis robotic manipulator. The system is the first of it's kind to take into account moving obstacles. Using the OpEn framework, optimisation is done by the PANOC and ALM techniques. Experimentation demonstrates extremely fast solver times on both PC and embedded platforms.

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