Keywords
Microrobotics, Image Processing, Background Subtraction, OpenCV, Software Development
Presentation Type
Event
Research Abstract
Untethered submilliliter-sized robots (microrobots) are showing potential use in different industrial, manufacturing and medical applications. A particular type of these microrobots, magnetic robots, have shown improved performance in power and control capabilities compared to the other thermal and electrostatic based robots. However, the magnetic robot designs have not been assessed in a robust manner to understand the degree of control in different environments and their application feasibility. This research project seeks to develop a custom control software interface to provide a holistic tool for researchers to evaluate the microrobotic performance through advance control features. The software deliverable involved two main aspects: 1) Real-time microrobot detection and tracking through image processing, achieved through testing with different combinations of built-in tracking algorithms in OpenCV package, and 2) hardware interfacing with a microcontroller based coil control system through serial port communication for direct control of the magnetic coils. The robotic motion control was studied using error mode correction strategies to provide a robust, accurate and time efficient image stream based robotic controls. The user interface developed conducts change in brightness and rotation invariant tracking with an efficient speed of 12 frames per second and performs real-time calculation of robot’s position and orientation. It provides robust automatic control of directing microrobotic motion along the specific path waypoints entered on the images, through recursive serial bus communication. The project showcases the advanced importance and the powerful tool of image processing and microcontroller based communication in conducting the performance analysis of promising microrobotic designs.
Session Track
Computer Engineering
Recommended Citation
Archit R. Aggarwal, Wuming Jing, and David J. Cappelleri,
"Improved Microrobotic Control through Image Processing and Automated Hardware Interfacing"
(August 7, 2014).
The Summer Undergraduate Research Fellowship (SURF) Symposium.
Paper 39.
https://docs.lib.purdue.edu/surf/2014/presentations/39
Research Project Poster Presentation
Included in
Artificial Intelligence and Robotics Commons, Electromagnetics and Photonics Commons, Hardware Systems Commons, Mechanical Engineering Commons, Programming Languages and Compilers Commons, Robotics Commons, Software Engineering Commons, Theory and Algorithms Commons
Improved Microrobotic Control through Image Processing and Automated Hardware Interfacing
Untethered submilliliter-sized robots (microrobots) are showing potential use in different industrial, manufacturing and medical applications. A particular type of these microrobots, magnetic robots, have shown improved performance in power and control capabilities compared to the other thermal and electrostatic based robots. However, the magnetic robot designs have not been assessed in a robust manner to understand the degree of control in different environments and their application feasibility. This research project seeks to develop a custom control software interface to provide a holistic tool for researchers to evaluate the microrobotic performance through advance control features. The software deliverable involved two main aspects: 1) Real-time microrobot detection and tracking through image processing, achieved through testing with different combinations of built-in tracking algorithms in OpenCV package, and 2) hardware interfacing with a microcontroller based coil control system through serial port communication for direct control of the magnetic coils. The robotic motion control was studied using error mode correction strategies to provide a robust, accurate and time efficient image stream based robotic controls. The user interface developed conducts change in brightness and rotation invariant tracking with an efficient speed of 12 frames per second and performs real-time calculation of robot’s position and orientation. It provides robust automatic control of directing microrobotic motion along the specific path waypoints entered on the images, through recursive serial bus communication. The project showcases the advanced importance and the powerful tool of image processing and microcontroller based communication in conducting the performance analysis of promising microrobotic designs.