MiCRoN

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|[[Image:CloseUpWithoutFlash.jpg|300px|thumb|Closeup of MiCRoN environment]]||[[Image:Gripper.png|300px|thumb|Gripper imaged with micro-camera]]
 
|[[Image:CloseUpWithoutFlash.jpg|300px|thumb|Closeup of MiCRoN environment]]||[[Image:Gripper.png|300px|thumb|Gripper imaged with micro-camera]]
 
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|[[Image:Cells4.jpg|300px|thumb|Microscope image with limited depth of field (934kByte [http://vision.eng.shu.ac.uk/jan/cells4.avi video])]]||[[Image:Gripper2.jpg|300px|thumb|Detection/tracking of micro-gripper and capacitor (2.78 MByte [http://vision.eng.shu.ac.uk/jan/gripper2.avi video])]]
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|[[Image:Micron_Public_Final_Report.jpg|300px|thumb|Overview of the ''MiCRoN microrobot'']]||<html>
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    <div class="thumbcaption">Detection/tracking of micro-gripper and capacitor <a href="Microscope_Vision_Software">More videos ...</a></div>
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|[[Image:Micron.jpg|thumb|150px|MiCRoN poster at SHU research seminar]]||[[Image:SetUpSideView.jpg|300px|thumb|Another picture of the MiCRoN environment]]
 
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=The MiCRoN Project=
 
=The MiCRoN Project=
 
==Objective==
 
==Objective==
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The goal of the European Union IST project '''MiCRoN''' was the development of a multi-robot manipulation system capable of handling µm-sized objects. The system is based on a small cluster of about a few cubic-centimetre-sized robots. Each robot is equipped with onboard electronics for communications and control. These robots are controlled by infrared communication and they can be equipped with various tools such as ''syringe-chips'', ''grippers'' or ''AFM probes''. The aim of the project was to automatically perform tasks like injecting cells with fluids or soldering SMD micro resistors.
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The goal of the [http://cordis.europa.eu/fetch?CALLER=PROJ_IST&ACTION=D&RCN=61495 European Union IST project '''MiCRoN'''] was the development of a multi-robot manipulation system capable of handling µm-sized objects. The system is based on a small cluster of about a few cubic-centimetre-sized robots. Each robot is equipped with onboard electronics for communications and control. These robots are controlled by infrared communication and they can be equipped with various tools such as ''syringe-chips'', ''grippers'' or ''AFM probes''. The aim of the project was to automatically perform tasks like injecting cells with fluids or soldering SMD micro resistors. The project is finished and the '''[http://vision.eng.shu.ac.uk/jan/MiCRoN-PublicFinalReport-print.pdf MiCRoN public final report is now available]'''!
  
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==Members==
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==Partners==
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Members from ''Uppsala'', ''Lausanne'', ''St. Ingbert'', ''Athens'', ''Pisa'', ''Barcelona'', ''Karlsruhe'' and ''Sheffield'' have participated in this project. The task of the [[MMVL]] was to develop the [[MiCRoN Microscope Vision Software|computer vision software]].
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Members from ''[http://www.mst.material.uu.se/ Uppsala]'', ''[http://microrobotics.epfl.ch/ Lausanne]'', ''[http://www.ibmt.fhg.de/ St. Ingbert]'', ''[http://www.csl.mech.ntua.gr/ Athens]'', ''[http://www-mitech.sssup.it/ Pisa]'', ''[http://www.ub.es/ Barcelona]'', '''[http://microrobotics.ira.uka.de/ Karlsruhe]''' (project-leader), and ''[[MMVL|Sheffield]]'' have participated in this project. The task of the [[MMVL|Sheffield team]] was to develop the '''[[Microscope Vision Software|computer vision software for the MiCRoN project]]'''.
  
 
==Computer Vision==
 
==Computer Vision==
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'''Computer vision for microscopes''' has to deal with the problem of limited depth of field. But instead of trying to
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The '''[[Microscope Vision Software|MiCRoN vision software]]''' has to deal with the problem of limited depth of field. Instead
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overcome this, one can actually use the depth information concealed in this images.
+
of trying to overcome this, one can actually use the depth information concealed in this images to achieve ''real-time object recognition for
 +
microscopes''.
  
−
By using focus-stacks as models it was possible to provide real-time object recognition of multiple objects in up to 4 degrees-of-freedom. The micro-objects are not required to stay at a fixed distance to the camera any more. Novel automated procedures in biology and micro-technology are thus conceivable.
+
By using focus-stacks as models it was possible to provide '''real-time object recognition of multiple micro-objects in up to 4 degrees-of-freedom'''. The micro-objects are not required to stay at a fixed distance to the camera any more. Novel automated procedures in biology and micro-technology are thus conceivable.
  
 
=See Also=
 
=See Also=
 
* [[MiCRoN Test Environment]]
 
* [[MiCRoN Test Environment]]
 
* [[MiCRoN Microscope Environment]]
 
* [[MiCRoN Microscope Environment]]
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* [[Image:New.gif]] '''[[Microscope Vision Software]]'''
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* [[Microscope Vision Software]]
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* [[Microscopic pipette tip, video and ground truth]]
 
* [[Mimas]]
 
* [[Mimas]]
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* [[MINIMAN]]
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* [[Nanorobotics]]
  
 
=External Links=
 
=External Links=
 
* [http://wwwipr.ira.uka.de/~micron/ Official project page]
 
* [http://wwwipr.ira.uka.de/~micron/ Official project page]
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** [http://i60p4.ira.uka.de/~seyfried/tikiwiki-1.7.3/tiki-index.php?page=Applications Applications]
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** [http://vision.eng.shu.ac.uk/jan/MiCRoN-PublicFinalReport-print.pdf MiCRoN public final report]
 +
** [http://microrobotics.ira.uka.de/ IPR Wiki]
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*** [http://i60p4.ira.uka.de/tiki/tiki-index.php?page=MiCRoN MiCRoN project]
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*** [http://i60p4.ira.uka.de/tiki/tiki-index.php?page=Applications MiCRoN Applications]
 
* [http://vision.eng.shu.ac.uk/mediawiki3-1.4.10/index.php/Micron MiCRoN MMVL private section]
 
* [http://vision.eng.shu.ac.uk/mediawiki3-1.4.10/index.php/Micron MiCRoN MMVL private section]
 
* [http://www.shu.ac.uk/mmvl/research/research-active-MiCRoN.html Official MMVL MiCRoN homepage]
 
* [http://www.shu.ac.uk/mmvl/research/research-active-MiCRoN.html Official MMVL MiCRoN homepage]
 
** [http://www.shu.ac.uk/mmvl/research/research-active-MiCRoN.a.html Computer Vision for Microscopes]
 
** [http://www.shu.ac.uk/mmvl/research/research-active-MiCRoN.a.html Computer Vision for Microscopes]
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* [http://robotics.eecs.berkeley.edu/~ronf/milli-robot.html Microrobotics and Millirobotics Research] at the University of California
 
* [http://www.nano.polymtl.ca/en/Projets/NanoWalker/nanowalker.html NanoWalker project]
 
* [http://www.nano.polymtl.ca/en/Projets/NanoWalker/nanowalker.html NanoWalker project]
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* [http://www.ri.cmu.edu/labs/lab_10.html Microdynamic Systems Lab] at Carnegie Mellon University
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* [http://www.msl.ri.cmu.edu/ Microdynamic Systems Lab] at the [http://www.ri.cmu.edu/lab_lists/index.html Robotics Institute] of [http://www.cmu.edu/ Carnegie Mellon University]
 
* [http://microrobotics.ira.uka.de/ IPR Microrobotics Wiki]
 
* [http://microrobotics.ira.uka.de/ IPR Microrobotics Wiki]
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* [http://en.wikibooks.org/wiki/Microwiki Wikibooks' Microwiki]
 
* [http://www.iris.ethz.ch/research/micro/cad.php 6-DOF Visual Feedback for Microassembly with two microscope cameras at ETH]
 
* [http://www.iris.ethz.ch/research/micro/cad.php 6-DOF Visual Feedback for Microassembly with two microscope cameras at ETH]
 
* [http://www.neurobotics.info/ Neurobotics] project
 
* [http://www.neurobotics.info/ Neurobotics] project
 
* [http://www.cogniron.org/ Cognitive Robot Companion] project ([http://www.cogniron.org/Publications.php publication list])
 
* [http://www.cogniron.org/ Cognitive Robot Companion] project ([http://www.cogniron.org/Publications.php publication list])
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* [http://www.physikinstrumente.com/ PI Physikinstrumente]
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* [http://www.mein.nagoya-u.ac.jp/maze/index.html International Micro Robot Maze Contest] (especially check out the [http://imd.eng.kagawa-u.ac.jp/maze/resources/index.html gallery of past participants])
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* [http://robotics.eecs.berkeley.edu/~ronf/Prototype/ Prototyping Folded Robots at UC Berkeley's Biomimetic Millisystems Lab]
 
* Papers
 
* Papers
 
** [http://www.iop.org/EJ/abstract/0960-1317/15/10/S02/ Micro manipulation by adhesion with two collaborating mobile micro robots, W. Driesen et al 2005 J. Micromech. Microeng.]
 
** [http://www.iop.org/EJ/abstract/0960-1317/15/10/S02/ Micro manipulation by adhesion with two collaborating mobile micro robots, W. Driesen et al 2005 J. Micromech. Microeng.]
 
* Publicity
 
* Publicity
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** [http://www.electronicstalk.com/news/she/she101.html The MiCRoN project on electronicstalk.com]
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** [http://www.knowledge-rich.com/newsarticle.aspx?nw_id=40 The MiCRoN project on knowledge-rich.com]
 
** [http://istresults.cordis.lu/index.cfm/section/news/tpl/article/ID/80703/BrowsingType/Features The MiCRoN project in IST-feature]
 
** [http://istresults.cordis.lu/index.cfm/section/news/tpl/article/ID/80703/BrowsingType/Features The MiCRoN project in IST-feature]
 
** [http://hardware.slashdot.org/hardware/06/02/25/217225.shtml The MiCRoN project on Slashdot!]
 
** [http://hardware.slashdot.org/hardware/06/02/25/217225.shtml The MiCRoN project on Slashdot!]
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** [http://technologyreview.com/NanoTech-Devices/wtr_16525,303,p1.html The MiCRoN project on technologyreview.com]
 
** [http://technologyreview.com/NanoTech-Devices/wtr_16525,303,p1.html The MiCRoN project on technologyreview.com]
 
** [http://www.azonano.com/news.asp?newsID=1917 The MiCRoN project on azonano.com]
 
** [http://www.azonano.com/news.asp?newsID=1917 The MiCRoN project on azonano.com]
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** [http://www.heise.de/newsticker/meldung/71031 The MiCRoN project on heise.de]
  
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{{Addthis}}
  
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[[Category:Projects]]
 
[[Category:Micron|*Micron]]
 
[[Category:Micron|*Micron]]

Latest revision as of 15:47, 26 May 2010

Artist's impression of collaborating micro-robots
Overview of MiCRoN environment
Closeup of MiCRoN environment
Gripper imaged with micro-camera
Overview of the MiCRoN microrobot
Detection/tracking of micro-gripper and capacitor More videos ...
MiCRoN poster at SHU research seminar
Another picture of the MiCRoN environment

Contents

[edit] The MiCRoN Project

[edit] Objective

The goal of the European Union IST project MiCRoN was the development of a multi-robot manipulation system capable of handling µm-sized objects. The system is based on a small cluster of about a few cubic-centimetre-sized robots. Each robot is equipped with onboard electronics for communications and control. These robots are controlled by infrared communication and they can be equipped with various tools such as syringe-chips, grippers or AFM probes. The aim of the project was to automatically perform tasks like injecting cells with fluids or soldering SMD micro resistors. The project is finished and the MiCRoN public final report is now available!

[edit] Partners

Members from Uppsala, Lausanne, St. Ingbert, Athens, Pisa, Barcelona, Karlsruhe (project-leader), and Sheffield have participated in this project. The task of the Sheffield team was to develop the computer vision software for the MiCRoN project.

[edit] Computer Vision

The MiCRoN vision software has to deal with the problem of limited depth of field. Instead of trying to overcome this, one can actually use the depth information concealed in this images to achieve real-time object recognition for microscopes.

By using focus-stacks as models it was possible to provide real-time object recognition of multiple micro-objects in up to 4 degrees-of-freedom. The micro-objects are not required to stay at a fixed distance to the camera any more. Novel automated procedures in biology and micro-technology are thus conceivable.

[edit] See Also

[edit] External Links

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