Integrating robotic software frameworks for convenient software component exchange in micro- and nanoscale applications

Tiemerding, Tobias; Essen, Mathias von; Diederichs, Claas; Kallio, Pasi; Fatikow, Sergej

doi:10.1109/aim.2014.6878207

Cited by 5 publications

(3 citation statements)

References 26 publications

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“…Therefore, the software is separated in independent subsystems, which may interact with each other. A brief summary is given next; a detailed description can be found in [31] and [32].…”

Section: B Control Setupmentioning

confidence: 99%

Automated Robotic Manipulation of Individual Colloidal Particles Using Vision-Based Control

Zimmermann

Tiemerding

Fatikow

2015

IEEE/ASME Trans. Mechatron.

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Automated manipulation of micro-and nanosized objects using robotic setups constitutes a major challenge due to the force-scaling laws and the limited control possibilities on that scale. This paper presents a new developed approach for automated manipulation of individual colloidal particles using a dedicated dualprobe setup inside a scanning electron microscope. Based on tailored probe geometries, the setup allows for reliable pick-up and release sequences of individual particles. Applying image processing of the visual feedback provided by the microscope enables for direct and fast control of the complex manipulation routines and thus allows for fully automated alignment sequences. Experimental results reveal a high repeatability of the process with hitherto unrivaled precision. The advantages and limits of this technique are highlighted with respect to further application scenarios.

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“…Therefore, the software is separated in independent subsystems, which may interact with each other. A brief summary is given next; a detailed description can be found in [31] and [32].…”

Section: B Control Setupmentioning

confidence: 99%

Automated Robotic Manipulation of Individual Colloidal Particles Using Vision-Based Control

Zimmermann

Tiemerding

Fatikow

2015

IEEE/ASME Trans. Mechatron.

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“…The OAF has already been presented extensively elsewhere [17], [18], [19]. Therefore, only a brief summary of the performance and application scenarios of the framework are given here: The idea behind this framework is to provide a platform allowing for simple interaction between different robotic setups and multiple sensor inputs, particularly focusing on vision-based sensors.…”

Section: Control Softwarementioning

confidence: 99%

Automated robotic manipulation of individual sub-micro particles using a dual probe setup inside the scanning electron microscope

Zimmermann

Tiemerding

Haenssler

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Micro-and nanosized objects aligned in specific spatial order are of great interest for applications in photonics and nanoelectronics. In particular, piezo-actuated robotic setups are promising tools to arrange and manipulate these objects individually. However, automated robotic processing on the submicron scale remains challenging due to the force scaling laws and the limited possibilities in terms of control. This paper presents the current progress on fully-automated pick-andplace routines of individual colloidal particles using a dedicated dual-probe setup inside a scanning electron microscope. Applying tailored probes in combination with image processing of the visual feedback provided by the microscope allow for complex automation sequences. The limits of the current technique are highlighted and the challenges for automated processing of progressively smaller particles are discussed.

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“…• Automation: A user can create simple as well as highly complex automation sequences, based on the highlevel programming-language Python 2 and provided Further information about the OAF can be found in [18], [22].…”

Section: Experimental Setup and Goalsmentioning

confidence: 99%

Advanced Methods for High-Speed Template Matching Targeting FPGAs

Elfert

Tiemerding²,

Diederichs

et al. 2014

2014 International Symposium on Optomechatronic Technologies

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Template matching is an important image processing algorithm for object detection and tracking tasks especially because of its very high accuracy. Yet, one major disadvantage of this algorithm is its very high computational effort due to its high complexity which results in low update rates using conventional software-based systems. Additionally, these systems are often afflicted by latency and jitter. Pre-calculating small and robust templates allows for using FPGA-based template matching as an approach to solve these problems. Therefore, the paper outlines three successive software-based approaches to find these small and robust templates. The first approach contains the basic algorithm and is refined by the following two approaches using pre-processing. The resulting templates allow for using the programmable hardware of an FPGA to cache necessary image information and, more importantly, to derive the best matching of template and source image, which results in high update rates. This paper shows novel approaches to high-speed template matching on FPGAs. The validation of these approaches has shown that the resulting tracking quality and feasibility is highly dependent on the relative size of the template in regard to the object to track. The results show tracking uncertainties between one single pixel for low and hundreds of pixels for high resolution videos.

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Integrating robotic software frameworks for convenient software component exchange in micro- and nanoscale applications

Cited by 5 publications

References 26 publications

Automated Robotic Manipulation of Individual Colloidal Particles Using Vision-Based Control

Automated Robotic Manipulation of Individual Colloidal Particles Using Vision-Based Control

Automated robotic manipulation of individual sub-micro particles using a dual probe setup inside the scanning electron microscope

Advanced Methods for High-Speed Template Matching Targeting FPGAs

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