Nanorobotics

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[[Image:JEOL3010.jpg|right|thumb|240px|JEOL 3010 transmission electron microscope at Sheffield University, [http://www.shef.ac.uk/materials/research/centres/sorby/ Sorby Centre]]]
 
[[Image:JEOL3010.jpg|right|thumb|240px|JEOL 3010 transmission electron microscope at Sheffield University, [http://www.shef.ac.uk/materials/research/centres/sorby/ Sorby Centre]]]
 
=The Nanorobotics Project=
 
=The Nanorobotics Project=
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A large new nanotechnology research programme '''Nanorobotics - technologies for simultaneous multidimensional imaging and manipulation of nanoobjects''' ([http://gow.epsrc.ac.uk/ViewGrant.aspx?GrantRef=GR/S85696/01 grant GR/S85696/01] and [http://gow.epsrc.ac.uk/ViewGrant.aspx?GrantRef=GR/S85689/01 grant GR/S85689/01]) is to be established at [http://en.wikipedia.org/wiki/Sheffield_University Sheffield University] from Autumn 2004 funded by a £2.3Millon grant from the [http://www.rcuk.ac.uk/basictech/ RCUK Basic Technology Research Programme]. The programme led by the Engineering Materials Department of the University of Sheffield, will be a collaboration between the [http://en.wikipedia.org/wiki/Sheffield_University University of Sheffield] (project leader), [http://en.wikipedia.org/wiki/Sheffield_Hallam_University Sheffield Hallam University] and the [http://en.wikipedia.org/wiki/University_of_Nottingham University of Nottingham].
+
A large new nanotechnology research programme '''Nanorobotics - technologies for simultaneous multidimensional imaging and manipulation of nanoobjects''' ([http://gow.epsrc.ac.uk/ViewGrant.aspx?GrantRef=GR/S85696/01 grant GR/S85696/01] and [http://gow.epsrc.ac.uk/ViewGrant.aspx?GrantRef=GR/S85689/01 grant GR/S85689/01]) is to be established at [http://en.wikipedia.org/wiki/Sheffield_University Sheffield University] from Autumn 2004 funded by a £2.3Millon grant from the [http://www.rcuk.ac.uk/basictech/ RCUK Basic Technology Research Programme]. The programme led by the Engineering Materials Department of the University of Sheffield, will be a collaboration of project partners from '''[http://nano.group.shef.ac.uk/ Sheffield]''' (project leader), [http://vision.eng.shu.ac.uk/mmvlwiki/index.php/Nanorobotics Sheffield Hallam] and [http://www.nottingham.ac.uk/~ppzstm/ Nottingham].
  
 
Many new nanotechnology research fields require a high degree of precision in both observing and manipulating materials at the atomic level. The advanced nanorobotics technology needed to manipulate materials at this scale, a million times smaller than a grain of sand, will be developed in the new Sheffield '''[http://nano.group.shef.ac.uk/ Nanorobotics group]'''. The integration of different technologies to act as simultaneous real-time nanoscale "eyes" and "hands", including the advanced nanorobotics, high-resolution ion/electron microscopy, image processing/vision control and sophisticated sensors, will lead to the ability to manipulate matter at the scale of atoms or molecules.
 
Many new nanotechnology research fields require a high degree of precision in both observing and manipulating materials at the atomic level. The advanced nanorobotics technology needed to manipulate materials at this scale, a million times smaller than a grain of sand, will be developed in the new Sheffield '''[http://nano.group.shef.ac.uk/ Nanorobotics group]'''. The integration of different technologies to act as simultaneous real-time nanoscale "eyes" and "hands", including the advanced nanorobotics, high-resolution ion/electron microscopy, image processing/vision control and sophisticated sensors, will lead to the ability to manipulate matter at the scale of atoms or molecules.
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The Nanorobotics programme will thus allow unique experiments to be carried out on the manipulation and observation of the smallest quantities of materials, including research into nanoscale electronic, magnetic and electromechanical devices, manipulation of fullerenes and nanoparticles, nanoscale friction and wear, biomaterials, and systems for carrying out quantum information processing.
 
The Nanorobotics programme will thus allow unique experiments to be carried out on the manipulation and observation of the smallest quantities of materials, including research into nanoscale electronic, magnetic and electromechanical devices, manipulation of fullerenes and nanoparticles, nanoscale friction and wear, biomaterials, and systems for carrying out quantum information processing.
  
−
The project's deadline is January 2009.
+
The project's deadline is end of July 2009.
 
[[Image:JEOLControls.jpg|thumb|640px|center|Controls of JEOL 3010 microscope]]
 
[[Image:JEOLControls.jpg|thumb|640px|center|Controls of JEOL 3010 microscope]]
−
==MMVL==
+
==Workpackage 5: Intelligent nanorobotic Control==
 
{|align=right
 
{|align=right
 
|-
 
|-
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|<html><div class="thumb tright"><div style="width:320px;">
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|<html>
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<embed style="width:320px; height:240px;" id="VideoPlayback" type="application/x-shockwave-flash" src="http://vision.eng.shu.ac.uk/jan/foodautomation/flvplayer.swf" width="320" height="240" flashvars="file=http://vision.eng.shu.ac.uk/jan/flv/tip10lk.flv&image=http://vision.eng.shu.ac.uk/jan/flv/tip10lk.jpg&displayheight=240" pluginspage="http://www.macromedia.com/go/getflashplayer"/>
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  <div class="thumb tright"><div style="width:320px;">
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<div class="thumbcaption">Demonstration of <a href="Lucas-Kanade_tracker">Lucas-Kanade tracker</a>. The indenter is lost where it moves to fast for the tracking algorithm</div></div></div></html>
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    <object type="application/x-shockwave-flash" data="http://vision.eng.shu.ac.uk/jan/flv/flvplayer.swf" width="320" height="246">
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      <param name="flashvars"
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            value="file=http://vision.eng.shu.ac.uk/jan/flv/telemanipulation.flv&amp;image=http://vision.eng.shu.ac.uk/jan/flv/telemanipulation.jpg&amp;searchbar=false&amp;displayheight=246" />
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      <param name="movie" value="http://vision.eng.shu.ac.uk/jan/flv/flvplayer.swf" />
 +
      <param name="allowfullscreen" value="true" />
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    </object>
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    <div class="thumbcaption">Visual calibration followed by two-dimensional telemanipulation (also available as <a href="http://vision.eng.shu.ac.uk/jan/telemanipulation.avi">MPEG4 video (45 MByte)</a>). The deviation may be due to the drift during calibration which was not taken into account. This video was created with free TEM software running under GNU/Linux. <a href="TEM_vision_software">More ...</a></div></div></div></html>
 +
|-
 +
|<html>
 +
  <div class="thumb tright"><div style="width:320px;">
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    <object type="application/x-shockwave-flash" data="http://vision.eng.shu.ac.uk/jan/flv/flvplayer.swf" width="320" height="320">
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      <param name="flashvars"
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            value="file=http://vision.eng.shu.ac.uk/jan/flv/indentation.xml&amp;repeat=false&amp;searchbar=false&amp;displayheight=246" />
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      <param name="movie" value="http://vision.eng.shu.ac.uk/jan/flv/flvplayer.swf" />
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      <param name="allowfullscreen" value="true" />
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    </object>
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    <div class="thumbcaption"><em>Lucas-Kanade tracker</em> applied to <a href="http://vision.eng.shu.ac.uk/jan/tipfatigure.avi">high magnification</a> video and <a href="http://vision.eng.shu.ac.uk/jan/tip10lk.avi">low magnification</a> video. The indenter is lost where it moves to fast for the tracking algorithm. <a href="Lucas-Kanade_tracker">More ...</a></div></div></div></html>
 
|-
 
|-
 
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The workpackage of the '''MMVL''' is to
 
The workpackage of the '''MMVL''' is to
 
* provide '''real-time position feed-back for controlling the nano-indenter'''
 
* provide '''real-time position feed-back for controlling the nano-indenter'''
−
** using input from '''S-Video'''- or alternatively '''Firewire-camera'''
+
** using input from S-Video- or alternatively Firewire-camera
 
** estimate x- and y-position of the tip
 
** estimate x- and y-position of the tip
 
** estimate the depth of the tip using x- or y-image wobbling (this is a common technique for manually focussing on an object already)
 
** estimate the depth of the tip using x- or y-image wobbling (this is a common technique for manually focussing on an object already)
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Further projects beyond the workpackage
 
Further projects beyond the workpackage
 
* assist in hardness measurements by applying optic flow estimation on TEM videos
 
* assist in hardness measurements by applying optic flow estimation on TEM videos
−
* automatise the measurements, which were done manually in context of [http://eprints.iisc.ernet.in/archive/00004227/ this publication]
+
* offline measurements of video-data from indentation experiments (''e.g.'' see [http://eprints.iisc.ernet.in/archive/00004227/ this publication])
 
** estimation of drift
 
** estimation of drift
 
** estimate movement of tip
 
** estimate movement of tip
 
** determine object-boundaries
 
** determine object-boundaries
 
* measure fix-point and accuracy of rotary drives
 
* measure fix-point and accuracy of rotary drives
 +
 +
==Project Outputs==
 +
===Publications===
 +
====Conference papers====
 +
* A. J. Lockwood, J. Wedekind, R. S. Gay, M. S. Bobji, B. Amavasai, M. Howarth, G. Möbus, B. J. Inkson: Advanced transmission electron microscope triboprobe with automated closed-loop nanopositioning, Measurement Science and Technology, Volume 21 Number 7
 +
* M.Boissenin, J.Wedekind, B.P.Amavasai, J.R.Travis and F.Caparrelli. Fast pose estimation for microscope images using stencils. Proceedings of the 2006 IEEE SMC UK-RI 5th Chapter Conference on Advances in Cybernetic Systems (AICS 2006), Sheffield Hallam University, UK, 7-8 Sept 2006.
 +
* D. Bhowmik, B.P. Amavasai, T.J. Mulroy, Real-Time Object Classification On FPGA Using Moment Invariants And Kohonen Neural Networks,Proc. IEEE SMC UK-RI 5th Chapt. Conf. Advances in Cybernetic Systems (AICS 2006), pp. 43-48 (2006)
 +
* M. Boissenin, B.P. Amavasai, J. Wedekind and R. Saatchi, Shape information: using state space to decimate templates. BMVA Symposium on Shape Representation, Analysis and Perception, London, 5 November 2007.
 +
* J. Wedekind, B. P. Amavasai, K. Dutton, [http://shura.shu.ac.uk/953/ Steerable filters generated with the hypercomplex dual-tree wavelet transform]. 2007 IEEE International Conference on Signal Processing and Communications (ICSPC), pp. 1291-1294, Dubai, United Arab Emirates.(2007)
 +
* B.P. Amavasai, J. Wedekind, M. Boissenin, F. Caparrelli, A. Selvan, [[BMVA2008-Talk|Machine Vision for macro, micro, and nano robot environments]]. BMVA Symposium on Robotics and Vision, London, 14 May 2008.
 +
* J. Wedekind, B. P. Amavasai, K. Dutton, M. Boissenin, [http://shura.shu.ac.uk/952/ A machine vision extension for the Ruby programming language]. 2008 International Conference on Information and Automation (ICIA), pp. 991-6, Zhangjiajie, China.(2008)
 +
 +
====Other====
 +
* M. Boissenin: [http://vision.eng.shu.ac.uk/manuel/boissenin_thesis.pdf Template Reduction of Feature Point Models for Rigid Objects and Application to Tracking in Microscope Images], PhD, Feb 2009, Sheffield Hallam University
 +
* J. Wedekind, M. Howarth, J. Travis, K. Dutton, B. Amavasai, [[:Image:AVA-Bristol-2008.jpg|Real-time computer vision with Ruby and libJIT. Poster presentation]], [http://hlsweb.dmu.ac.uk/ava/meetings/bristol2008.html The 13th AVA Christmas Meeting], Bristol, United Kingdom (2008)
 +
* J.Wedekind, B. Amavasai, J.Travis: [[:Image:Nanoworkshop.jpg|Nanorobotics workshop poster presentation]], [http://nano.group.shef.ac.uk/workshop2007.html Nanorobotics workshop], Sheffield, United Kingdom (2007)
 +
* B.P. Amavasai: [[BMVA2008-Talk|Machine vision for macro, micro and nano robot environments]] at the BMVA meeting on [http://www.bmva.org/meetings/08/May08/May08Programme.pdf Vision and Robotics] (also see [http://www.bmva.org/meetings/ list of BMVA meetings])
 +
* anonymous submission(s)
 +
 +
===Software===
 +
* [[Image:New.gif]] [[TEM vision software]]
 +
** software for programmed movements nano-indenter
 +
** software for telemanipulation (controlling nanoindenter with camera feedback)
 +
** vision software with plugins for 2D recognition and tracking
 +
* [[Image:Hornetseye.png|32px]] [[HornetsEye]] Ruby-extension
 +
** integration of video-I/O libraries
 +
** fast generic array operations
  
 
=See Also=
 
=See Also=
 
* [[Image:Hornetseye.png|40px]] [[HornetsEye]]
 
* [[Image:Hornetseye.png|40px]] [[HornetsEye]]
 
* [[Image:Mimasanim.gif|40px]] [[Mimas]]
 
* [[Image:Mimasanim.gif|40px]] [[Mimas]]
 +
* [[MiCRoN]]
 +
* [[MINIMAN]]
 
* [[Registration of TEM images]]
 
* [[Registration of TEM images]]
−
* [[Locating tungsten-tip by means of cross-correlation]]
 
−
* [[Scale Invariant Feature Transform]]
 
 
* [[Micromanipulators|Micro-manipulator]]
 
* [[Micromanipulators|Micro-manipulator]]
 
* [[Hypercomplex Wavelets]]
 
* [[Hypercomplex Wavelets]]
−
* [[Image:New.gif]] [[Lucas-Kanade tracker]]
+
* [[Lucas-Kanade tracker]]
 +
* [[BMVA2008-Talk]]
  
 
=External Links=
 
=External Links=
 
{|align=right
 
{|align=right
 
|-
 
|-
−
|[[Image:Nanoworkshop.jpg|thumb|200px|Nanorobotics workshop poster]]
+
|[[Image:Vision GUI4.png|thumb|200px|Software for testing machine vision algorithms on TEM videos]]
 +
|-
 +
|[[Image:AVA-Bristol-2008.jpg|thumb|200px|[http://vision.eng.shu.ac.uk/jan/ava-bristol-2008.pdf Poster] for the 2008 [http://hlsweb.dmu.ac.uk/ava/meetings/bristol2008.html AVA meeting] in Bristol]]
 
|-
 
|-
 
|[[Image:Init indentation.jpg|thumb|200px|Low magnification image of tungsten tip prior to indentation experiment]]
 
|[[Image:Init indentation.jpg|thumb|200px|Low magnification image of tungsten tip prior to indentation experiment]]
 
|-
 
|-
−
|[[Image:Tilt00.jpg|thumb|200px|TEM image of tungsten tip]]
+
|[[Image:Nanoworkshop.jpg|thumb|200px|Nanorobotics workshop poster]]
 
|-
 
|-
 
|}
 
|}
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*** Publication ''[http://eprints.iisc.ernet.in/archive/00004227/ Indentation mechanics of Cu-Be quantified by an in situ transmission electron microscopy mechanical probe]''
 
*** Publication ''[http://eprints.iisc.ernet.in/archive/00004227/ Indentation mechanics of Cu-Be quantified by an in situ transmission electron microscopy mechanical probe]''
 
** University of Nottingham
 
** University of Nottingham
−
*** [http://www.nottingham.ac.uk/physics/ School of Physics and Astronomy]
+
*** [http://www.nottingham.ac.uk/~ppzstm/ Nanoscience group]
 
* Journals
 
* Journals
 
** [http://www.iop.org/EJ/journal/JMM Journal of Micromechanics and Microengineering]
 
** [http://www.iop.org/EJ/journal/JMM Journal of Micromechanics and Microengineering]
 
** [http://www.ecmjournal.org/ European Cells & Materials Journal]
 
** [http://www.ecmjournal.org/ European Cells & Materials Journal]
 
* [http://en.wikibooks.org/wiki/Nanowiki Wikibooks' Nanowiki]
 
* [http://en.wikibooks.org/wiki/Nanowiki Wikibooks' Nanowiki]
−
* [http://www.jeolusa.com/tem/temprods/fastem_faq.html JEOL USA FasTEM]
+
* [http://www.jeolusa.com/PRODUCTS/ElectronOptics/TransmissionElectronMicroscopesTEM/300kV/JEM3010/tabid/213/Default.aspx JEOL 3010]
 
* [http://www.links999.net/robotics/nanotechnology/index.html Links999 Nanotech Page]
 
* [http://www.links999.net/robotics/nanotechnology/index.html Links999 Nanotech Page]
 
* [http://homepages.inf.ed.ac.uk/rbf/CAVIAR/ CAVIAR: Image-based recognition project]
 
* [http://homepages.inf.ed.ac.uk/rbf/CAVIAR/ CAVIAR: Image-based recognition project]
Line 90: Line 136:
 
* [http://blogs.zdnet.com/emergingtech/?p=684 What is nanopantography?]
 
* [http://blogs.zdnet.com/emergingtech/?p=684 What is nanopantography?]
 
* [http://www.media.mit.edu/molecular/projects.html molecular machines research group MIT media lab]
 
* [http://www.media.mit.edu/molecular/projects.html molecular machines research group MIT media lab]
 +
* [http://technology.newscientist.com/article/dn13725-tiny-robotic-hand-has-the-gentlest-touch.html Microgripper at Toronto University]
 +
* [http://news.bbc.co.uk/1/hi/scotland/glasgow_and_west/7162606.stm Nano-imprinting to improve LEDs]
 +
* [http://www.edmontonjournal.com/life/relationships/Find+revolutionize+computers/1247058/story.html Efficiently Producing Quantum Dots]
 +
* [http://www.nanohand.eu/ Nanohand project]
 
* Software
 
* Software
 
** [http://www.biochem.mpg.de/baumeister/TEM/aet.html Tomography with electron microscopes]
 
** [http://www.biochem.mpg.de/baumeister/TEM/aet.html Tomography with electron microscopes]
Line 103: Line 153:
 
** [http://ncmi.bcm.tmc.edu/homes/stevel/EMAN/ EMAN] Software for Single Particle Analysis and Electron Micrograph Analysis
 
** [http://ncmi.bcm.tmc.edu/homes/stevel/EMAN/ EMAN] Software for Single Particle Analysis and Electron Micrograph Analysis
 
** [http://www.nanotechproject.org/consumerproducts/ Nanotechnology in consumer products]
 
** [http://www.nanotechproject.org/consumerproducts/ Nanotechnology in consumer products]
 +
** [http://virtual.itg.uiuc.edu/ NASA Virtual Microscope]
 +
 +
{{Addthis}}
  
 
[[Category:Projects]]
 
[[Category:Projects]]
 
[[Category:Nanorobotics|*Nanorobotics]]
 
[[Category:Nanorobotics|*Nanorobotics]]

Latest revision as of 10:30, 15 June 2010

JEOL 3010 transmission electron microscope at Sheffield University, Sorby Centre

Contents

[edit] The Nanorobotics Project

EPSRC-small.jpg
Resthem.jpg

A large new nanotechnology research programme Nanorobotics - technologies for simultaneous multidimensional imaging and manipulation of nanoobjects (grant GR/S85696/01 and grant GR/S85689/01) is to be established at Sheffield University from Autumn 2004 funded by a £2.3Millon grant from the RCUK Basic Technology Research Programme. The programme led by the Engineering Materials Department of the University of Sheffield, will be a collaboration of project partners from Sheffield (project leader), Sheffield Hallam and Nottingham.

Many new nanotechnology research fields require a high degree of precision in both observing and manipulating materials at the atomic level. The advanced nanorobotics technology needed to manipulate materials at this scale, a million times smaller than a grain of sand, will be developed in the new Sheffield Nanorobotics group. The integration of different technologies to act as simultaneous real-time nanoscale "eyes" and "hands", including the advanced nanorobotics, high-resolution ion/electron microscopy, image processing/vision control and sophisticated sensors, will lead to the ability to manipulate matter at the scale of atoms or molecules.

The Nanorobotics programme will thus allow unique experiments to be carried out on the manipulation and observation of the smallest quantities of materials, including research into nanoscale electronic, magnetic and electromechanical devices, manipulation of fullerenes and nanoparticles, nanoscale friction and wear, biomaterials, and systems for carrying out quantum information processing.

The project's deadline is end of July 2009.

Controls of JEOL 3010 microscope

[edit] Workpackage 5: Intelligent nanorobotic Control

Visual calibration followed by two-dimensional telemanipulation (also available as MPEG4 video (45 MByte)). The deviation may be due to the drift during calibration which was not taken into account. This video was created with free TEM software running under GNU/Linux. More ...
Lucas-Kanade tracker applied to high magnification video and low magnification video. The indenter is lost where it moves to fast for the tracking algorithm. More ...

The workpackage of the MMVL is to

  • provide real-time position feed-back for controlling the nano-indenter
    • using input from S-Video- or alternatively Firewire-camera
    • estimate x- and y-position of the tip
    • estimate the depth of the tip using x- or y-image wobbling (this is a common technique for manually focussing on an object already)
  • User-interface for telemanipulation and automated tasks
  • Correlate AFM- with TEM-images

Further projects beyond the workpackage

  • assist in hardness measurements by applying optic flow estimation on TEM videos
  • offline measurements of video-data from indentation experiments (e.g. see this publication)
    • estimation of drift
    • estimate movement of tip
    • determine object-boundaries
  • measure fix-point and accuracy of rotary drives

[edit] Project Outputs

[edit] Publications

[edit] Conference papers

  • A. J. Lockwood, J. Wedekind, R. S. Gay, M. S. Bobji, B. Amavasai, M. Howarth, G. Möbus, B. J. Inkson: Advanced transmission electron microscope triboprobe with automated closed-loop nanopositioning, Measurement Science and Technology, Volume 21 Number 7
  • M.Boissenin, J.Wedekind, B.P.Amavasai, J.R.Travis and F.Caparrelli. Fast pose estimation for microscope images using stencils. Proceedings of the 2006 IEEE SMC UK-RI 5th Chapter Conference on Advances in Cybernetic Systems (AICS 2006), Sheffield Hallam University, UK, 7-8 Sept 2006.
  • D. Bhowmik, B.P. Amavasai, T.J. Mulroy, Real-Time Object Classification On FPGA Using Moment Invariants And Kohonen Neural Networks,Proc. IEEE SMC UK-RI 5th Chapt. Conf. Advances in Cybernetic Systems (AICS 2006), pp. 43-48 (2006)
  • M. Boissenin, B.P. Amavasai, J. Wedekind and R. Saatchi, Shape information: using state space to decimate templates. BMVA Symposium on Shape Representation, Analysis and Perception, London, 5 November 2007.
  • J. Wedekind, B. P. Amavasai, K. Dutton, Steerable filters generated with the hypercomplex dual-tree wavelet transform. 2007 IEEE International Conference on Signal Processing and Communications (ICSPC), pp. 1291-1294, Dubai, United Arab Emirates.(2007)
  • B.P. Amavasai, J. Wedekind, M. Boissenin, F. Caparrelli, A. Selvan, Machine Vision for macro, micro, and nano robot environments. BMVA Symposium on Robotics and Vision, London, 14 May 2008.
  • J. Wedekind, B. P. Amavasai, K. Dutton, M. Boissenin, A machine vision extension for the Ruby programming language. 2008 International Conference on Information and Automation (ICIA), pp. 991-6, Zhangjiajie, China.(2008)

[edit] Other

[edit] Software

  • New.gif TEM vision software
    • software for programmed movements nano-indenter
    • software for telemanipulation (controlling nanoindenter with camera feedback)
    • vision software with plugins for 2D recognition and tracking
  • Hornetseye.png HornetsEye Ruby-extension
    • integration of video-I/O libraries
    • fast generic array operations

[edit] See Also

[edit] External Links

Software for testing machine vision algorithms on TEM videos
Poster for the 2008 AVA meeting in Bristol
Low magnification image of tungsten tip prior to indentation experiment
Nanorobotics workshop poster

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