Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
A Framework to Calibrate a MEMS Sensor Network Kahina Boutoustous, Eugen Dedu and Julien Bourgeois University of Franche-Comté, France
UIC, Brisbane, Australia 08/07/09
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Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
SNC
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Plan
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Introduction (Smart Surface project)
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Related work Micro-manipulator Differentiation methods
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SNC (Sensor Network Calibrator)
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Results
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Conclusions and future works
Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
SNC
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Smart Surface project Objectives An autonomic surface, composed of a large number of micro-actuators which work together to sort and position micro-objects
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Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
SNC
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Smart Surface project Objectives An autonomic surface, composed of a large number of micro-actuators which work together to sort and position micro-objects
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Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
SNC
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Smart Surface project
4/22
Problematic Collaboration of several laboratories in various disciplines Open problems in each scientific field Hardware Software Sp2 Identification
Object Detect Sp2 Sensor Communication Sp1
Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
SNC
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Smart Surface project
4/22
Problematic Collaboration of several laboratories in various disciplines Open problems in each scientific field Hardware Software Sp2 Identification
Actuator
Actuator control
Sp3
Move Object Detect Sp2 Sensor Communication Sp1
Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
SNC
Control system Sp3
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Smart Surface project
4/22
Problematic Collaboration of several laboratories in various disciplines Open problems in each scientific field Hardware Software Sp2 Identification
Actuator
Actuator control
Sp3
Move Object Detect Sp2 Sensor communication
Control system Sp3
Sp1
Verification Sp4
Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
SNC
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Micro-manipulator Differentiation methods
Related work Micro-manipulator
Micro-manipulator without contact Electromagnetic, pneumatic Advantages More robust Can’t damage the part and/or the surface Drawbacks High cost More complicate to design Difficult to control, precision problem 5/22
Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
SNC
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Micro-manipulator Differentiation methods
Related work Example of a micro-manipulator with out contact
Electromagnetic H. Nakazawa, Y. Watanabe, O. Morita, M. Edo, and E. Yonezawa. The two-dimensional micro conveyer : principles and fabrication process of the actuator. Solid State Sensors and Actuators, 1997. TRANSDUCERS ’97 Chicago., 1997 International Conference on, 1 :33{36, Jun 1997.}
Thrust Micro-part Platform Excitation Bobine d'excitation coil Matrix of excitation planar magnetic coils Control circuit
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(a)
Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
SNC
(b)
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Micro-manipulator Differentiation methods
Related work Micro-manipulator
Micro-manipulator with contact Ciliary actuator arrays, electrostatics, roller wheels Advantages Easier to design Can move heavier objects Drawbacks Lower speed Less robust Can damage the part and/or the surface 7/22
Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
SNC
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Micro-manipulator Differentiation methods
Related work Example of a micro-manipulator with contact
Roller Jonathan E. Luntz,William Messner, and Howie Choset. Parcel manipulation and dynamics with a distributed actuator array : The virtual vehicle. In IEEE Int. Conf. on Robotics and Automation (ICRA), pages 1541{1997.}
(a)
8/22
Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
(b)
SNC
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Micro-manipulator Differentiation methods
Related work Differentiation methods
Differentiation methods The image representation
The form description
Contour
Fourier descriptor
9/22
Region
Invariants moments
Kahina Boutoustous, Eugen Dedu and Julien Bourgeois
Grid-based
SNC
Introduction (Smart Surface project) Related work SNC (Sensor Network Calibrator) Results Conclusions and future works
Micro-manipulator Differentiation methods
Related work Differentiation methods : Grid based
Image
Rotate the object until the longer axis is parallel to the X axis
Draw the grid of fixed size on a object
Browse the grid and code (according to threshold)
Apply XOR between the binary code of two parts
Identical parts if the XOR result is
