SVM-based Identification and Un-calibrated Visual Servoing for Micro-manipulation

This paper presents an improved support vector machine （SVM） algorithm, which employs invariant moments-based edge extraction to obtain feature attribute. A heuristic attribute reduction algorithm based on rough set＇s discernible matrix is proposed to identify and classify micro-targets. To avoid the complicated calibration for intrinsic parameters of camera, an improved Broyden＇s method is proposed to estimate the image Jacobian matrix which employs Chebyshev polynomial to construct a cost function to approximate the optimization value. Finally, a visual controller is designed for a robotic micromanipulation system. The experiment results of micro-parts assembly show that the proposed methods and algorithms are effective and feasible.

Application of Heating Type Micro-Assembly Device in Two-Photon Micromachining

The development of micro-fabrication and micro-assembly technology is indispensable for the future manufacturing of miniaturized,functional,and integrated devices.This paper proposes a planar micro-assembly technology to make the assembly of micro-objects easier.Firstly,delicate three-dimensional(3D)structures were fabricated on glass and silicon slice substrates using femtosecond laser two-photon polymerization(2PP).Secondly,transparent fluorescent scintillation ceramic powder,referred to as fluorescent powder,was assembled using a laboratory-made 3D moving heating micro-operator into a microstructure on a glass substrate,and this device is used to assemble the graphene powder into the microstructure on the silicon slice substrate.The fluorescence spectra and Raman spectra characterizations of the fluorescent powder and graphene powder in the microstructure were carried out by using excitation light at 405 nm and 532 nm,respectively.According to the above results,it can be concluded that the powder properties of the fluorescent powder and graphene powder assembled into the microstructure were not changed.The experimental device could not only assemble many micron-sized powder materials into hollow microstructures of arbitrary shape but also joined microstructures with different materials and characteristics to form a complex hybrid microstructure system.

Ionic Liquid Mediated Synthesis of Lath Shaped CuO Micro-Assembles as Extremely Stable Anode Material for Lithium-Ion Batteries

A novel lath-shaped CuO microassemble consisting of well-crystalized ultrafine nanocrystals was prepared by an ionothermal method with the assistance of ionic liquids （ILs, 1-butyl-3-methylimidazolium tetrafluoroborate）. As anode material of lithium ion batteries, the ILs-CuO exhibits high specific capacity, durability and good rate per- formance, superior to bare CuO. At a high current density of 1000 mA·g^-1, after 100 cycles, ILs-CuO still retains a discharge capacity of 483.2 mAh·g^-1. The improved electrochemical performances could be ascribed to the unique microscale lath-shape CuO assembles composed of ultrafine nanostructure.

Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object

A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.