Optical Localization and Tracking Method of a Mobile Micro-Conveyor Over a Smart Surface

Malak, S.; Hajjar, Hani Al; Dupont, Erwan; Khan, Muneeb Ullah; Prelle, Christine; Lamarque, Frédéric

doi:10.1109/jsen.2021.3062731

Cited by 5 publications

(3 citation statements)

References 24 publications

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“…Given this scenario, the magnitude of V SUM exceeds the threshold value, indicating that the QPD received the light beam reflected by the CCR onto the micro-conveyor. Then, the system exits the scanning phase to start the tracking of the micro-conveyor, for more details see [31]. The center of the conveying surface serves as the origin of the coordinate system, denoted by O(x, y) [see Figure 8].…”

Section: Resultsmentioning

confidence: 99%

“…In this situation, the system generates the adapted differential voltages v x and v y values rotating the MEMS mirror in such a way those previous values return near to zero [see Figures 3 and 4a]. More details concerning our developed optical sensor, which is used for localization and tracking, can be found in [31].…”

Section: Localization and Tracking Controlmentioning

confidence: 99%

“…In this work, a closed-loop system is developed to regulate the micro-conveyor's trajectory moving over an electromagnetic surface. The feedback of the closed-loop is provided by our developed optical sensor, previously presented and evaluated in [31]. There are several benefits of controlling the micro-conveyor path in a closed-loop control system, such as none-cumulative error, low inertia, and similar dynamic features along both working axes (x and y-axis), etc., ..., [32,33].…”

Section: Introductionmentioning

confidence: 99%

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Closed-Loop Optical Tracking of a Micro-Conveyor over a Smart Surface

Malak,

Hajjar,

Dupont

et al. 2024

JSAN

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In this work, a closed loop control system is developed to optically localize and track micro-robots with high precision. These micro-robots (i.e., micro-conveyors) are in motion simultaneously across a smart surface.The developed method’s primary objectives are to optimize their trajectories, avoid collisions between them, and control their position with micrometric resolution. This article presents and characterizes the tracking of a single micro-conveyor, and the method works similarly when multiple micro-robots move over the surface. Our tracking method starts with a scanning phase, where a 2D steering mirror, placed above the smart surface, reflects a laser beam toward the conveying surface seeking for the target. Localization occurs when this light beam reaches the micro-conveyor. By adding a retro-reflective element, that reflects the light in the same direction of the the incident light, onto the surface of the micro-conveyor, the light will be reflected towards a photodetector. Depending on the feedback from the photodetector, the steering mirror rotates to track the trajectory of the micro-conveyor. The tip-tilt angular values of the steering mirror allows the micro-conveyor position to be obtained via calibrated localization system. The aim of this work is to regulate the micro-conveyor, within a closed-loop control system, to reduce the positional error between the actual and desired position. The actual position value is measured in real-time application using our developed optical sensor. Results for tracking in the x-and y-axis have validated the proposed method, with an average tracking error less than 30 µm within a range 150 mm × 150 mm.

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Section: Resultsmentioning

confidence: 99%

Section: Localization and Tracking Controlmentioning

confidence: 99%