Development of system supervision and control software for a micromanipulation system

This paper presents the realization of a modular software architecture that is capable of handling the complex supervision structure of a multi degree of freedom open architecture and reconfigurable micro assembly workstation. This software architecture initially developed for a micro assembly workstation is later structured to form a framework and design guidelines for precise motion control and system supervision tasks explained subsequently through an application on a micro assembly workstation. The software is separated by design into two different layers, one for real-time and the other for non-realtime. These two layers are composed of functional modules that form the building blocks for the precise motion control and the system supervision of complex mechatronics systems

3D Scanning of transparent objects

Many practical tasks in industry, such as automatic inspection or robot vision, often require scanning of three-dimensional shapes with non-contact techniques. However, transparent objects, such as those made of glass, still pose difficulties for classical scanning techniques. The reconstruction of surface geometry for transparent objects is complicated by the fact that light is transmitted through, refracted and in some cases reflected by the surface. Current approaches can only deal relatively well with sub-classes of objects. The algorithms are still very specific and not generally applicable. Furthermore, many techniques require considerable acquisition effort and careful calibration. This thesis proposes a new method of determining the surface shape of transparent objects. The method is based on local surface heating and thermal imaging. First, the surface of the object is heated with a laser source. A thermal image is acquired, and pixel coordinates of the heated point are calculated. Then, the 3D coordinates of the surface are computed using triangulation and the initial calibration of the system. The process is repeated by moving the transparent object to recover its surface shape. This method is called Scanning From Heating. Considering the laser beam as a point heating source and the surface of the object locally at at the impact zone, the Scanning From Heating method is extended to obtain the surface normals of the object, in addition to the 3D world coordinates. A scanner prototype based on Scanning From Heating method has been developed during the thesis

Three-dimensional scanning of specular and diffuse metallic surfaces using an infrared technique

For the past two decades, the need for three-dimensional (3-D) scanning of industrial objects has increased significantly and many experimental techniques and commercial solutions have been proposed. However, difficulties remain for the acquisition of optically non-cooperative surfaces, such as transparent or specular surfaces. To address highly reflective metallic surfaces, we propose the extension of a technique that was originally dedicated to glass objects. In contrast to conventional active triangulation techniques that measure the reflection of visible radiation, we measure the thermal emission of a surface, which is locally heated by a laser source. Considering the thermophysical properties of metals, we present a simulation model of heat exchanges that are induced by the process, helping to demonstrate its feasibility on specular metallic surfaces and predicting the settings of the system. With our experimental device, we have validated the theoretical modeling and computed some 3-D point clouds from specular surfaces of various geometries. Furthermore, a comparison of our results with those of a conventional system on specular and diffuse parts will highlight that the accuracy of the measurement no longer depends on the roughness of the surface

A 3D scanner for transparent glass

Many practical tasks in industry, such as automatic inspection or robot vision, often require the scanning of three-dimensional shapes by use of non-contact techniques. However, few methods have been proposed to measure three-dimensional shapes of transparent objects because of the difficulty of dealing with transparency and specularity of the surface. This paper presents a 3D scanner for transparent glass objects based on Scanning From Heating (SFH), a new method that makes use of local surface heating and thermal imaging

Numérisation 3D d'objets transparents

Many practical tasks in industry, such as automatic inspection or robot vision, often require scanning of three-dimensional shapes with non-contact techniques. However, transparent objects, such as those made of glass, still pose difficulties for classical scanning techniques. The reconstruction of surface geometry for transparent objects is complicated by the fact that light is transmitted through, refracted and in some cases reflected by the surface. Current approaches can only deal relatively well with sub-classes of objects. The algorithms are still very specific and not generally applicable. Furthermore, many techniques require considerable acquisition effort and careful calibration. This thesis proposes a new method of determining the surface shape of transparent objects. The method is based on local surface heating and thermal imaging. First, the surface of the object is heated with a laser source. A thermal image is acquired, and pixel coordinates of the heated point are calculated. Then, the 3D coordinates of the surface are computed using triangulation and the initial calibration of the system. The process is repeated by moving the transparent object to recover its surface shape. This method is called Scanning From Heating. Considering the laser beam as a point heating source and the surface of the object locally flat at the impact zone, the Scanning From Heating method is extended to obtain the surface normals of the object, in addition to the 3D world coordinates. A scanner prototype based on Scanning From Heating method has been developed during the thesis.Beaucoup de tâches pratiques dans l'industrie, tels que l'inspection automatique ou la vision robotique, nécessitent souvent de numérisation de formes en trois dimensions (3D) avec des techniques non-contact. Toutefois, les objets transparents, tels que ceux en verre, posent encore des difficultés pour les techniques classiques de numérisation. La reconstruction de la géométrie de surface pour les objets transparents est compliquée par le fait que la lumière est transmise à travers, réfracté et dans certains cas, réfléchie par la surface. Les approches actuelles ne peut traiter que les sous-classes d'objets. Les algorithmes sont encore très spécifiques et ne sont généralement pas applicables. En outre, de nombreuses techniques exigent un effort considérable d'acquisition et de calibration. Cette thèse propose une nouvelle méthode de détermination de la forme de la surface des objets transparents. La méthode est basée sur le chauffage locale de la surface et sur l'imagerie thermique. Tout d'abord, la surface de l'objet est chauffé avec une source laser. Une image thermique est acquis, et les coordonnées en pixels du point d'échauffement sont calculés. Ensuite, les coordonnées 3D de la surface sont déterminées en utilisant triangulation et l'étalonnage initial du système. Le processus est répété en déplaçant l'objet transparent pour reprendre sa forme de surface complète. Cette méthode est appelée "Scanning From Heating". Considérant le faisceau laser comme une source de chauffage point et la surface de l'objet localement plane à la zone d'impact, la méthode est utilisée pour obtenir les normales de la surface de l'objet, en plus des coordonnées 3D. Un prototype base sur cette méthode a été développé pendant la thèse

Estimation of surface normal vectors based on 3D scanning from heating approach

International audienc

Application du Scanning From Heating à la numérisation 3D de surfaces métalliques spéculaires

National audienceBecause of the difficulty of dealing with specularity of several surfaces, few methods have been proposed to measure three-dimensional shapes of specular metallic objects. In this paper we present an application on this kind of material of an approach called "Scanning From Heating". This approach has been developed initially for 3D reconstruction of transparent objects. This article presents an application of the working principle of SFH method on material with high thermal conductivity and low absorptivity.En raison des difficultés liées à la réflexion spéculaire de certaines surfaces, peu de méthodes répétables ont été proposées pour mesurer la forme en trois dimensions des objets métalliques. Dans cet article, nous présentons une application sur ce type de matériau par une nouvelle approche appelée " Scanning From Heating ". Cette méthode a été initialement développée pour la numérisation 3D d'objets transparents. Nous exposons dans cet article comment le principe de fonctionnement de la méthode SFH peut être adapté sur les matériaux de haute conductivité thermique et de faible absorptivité

Scanning From Heating : extension pour la numérisation 3D de surfaces métalliques spéculaires

National audienceEn raison des difficultés liées à la réflexion spéculaire de certaines surfaces, peu de méthodes répétables ont été proposées pour mesurer la forme en trois dimensions des objets métalliques polis. Nous présentons l'application sur ce type de matériau d'une nouvelle approche appelée " Scanning From Heating ". Cette méthode a été initialement développée pour la numérisation 3D d'objets transparents. Du fait des nombreuses différences de propriétés physiques entre métaux et diélectriques, le principe de fonctionnement de la méthode SFH doit être modifié. Une simulation des échanges thermique grâce à un logiciel de calcul par éléments finis a permis de déterminer comment adapter la technique à des matériaux de haute conductivité thermique et de faible absorptivité, tels que les métaux. Par ailleurs, des résultats de numérisation 3D ont été obtenus pour plusieurs objets spéculaires de natures et de formes différentes

Numérisation 3D d'objets transparents

Beaucoup de tâches pratiques dans l'industrie, tels que l'inspection automatique ou la vision robotique, nécessitent souvent de numérisation de formes en trois dimensions (3D) avec des techniques non-contact. Toutefois, les objets transparents, tels que ceux en verre, posent encore des difficultés pour les techniques classiques de numérisation. La reconstruction de la géométrie de surface pour les objets transparents est compliquée par le fait que la lumière est transmise à travers, réfracté et dans certains cas, réfléchie par la surface. Les approches actuelles ne peut traiter que les sous-classes d'objets. Les algorithmes sont encore très spécifiques et ne sont généralement pas applicables. En outre, de nombreuses techniques exigent un effort considérable d'acquisition et de calibration. Cette thèse propose une nouvelle méthode de détermination de la forme de la surface des objets transparents. La méthode est basée sur le chauffage locale de la surface et sur l'imagerie thermique. Tout d'abord, la surface de l'objet est chauffé avec une source laser. Une image thermique est acquis, et les coordonnées en pixels du point d'échauffement sont calculés. Ensuite, les coordonnées 3D de la surface sont déterminées en utilisant triangulation et l'étalonnage initial du système. Le processus est répété en déplaçant l'objet transparent pour reprendre sa forme de surface complète. Cette méthode est appelée "Scanning From Heating". Considérant le faisceau laser comme une source de chauffage point et la surface de l'objet localement plane à la zone d'impact, la méthode est utilisée pour obtenir les normales de la surface de l'objet, en plus des coordonnées 3D. Un prototype base sur cette méthode a été développé pendant la thèse.Many practical tasks in industry, such as automatic inspection or robot vision, often require scanning of three-dimensional shapes with non-contact techniques. However, transparent objects, such as those made of glass, still pose difficulties for classical scanning techniques. The reconstruction of surface geometry for transparent objects is complicated by the fact that light is transmitted through, refracted and in some cases reflected by the surface. Current approaches can only deal relatively well with sub-classes of objects. The algorithms are still very specific and not generally applicable. Furthermore, many techniques require considerable acquisition effort and careful calibration. This thesis proposes a new method of determining the surface shape of transparent objects. The method is based on local surface heating and thermal imaging. First, the surface of the object is heated with a laser source. A thermal image is acquired, and pixel coordinates of the heated point are calculated. Then, the 3D coordinates of the surface are computed using triangulation and the initial calibration of the system. The process is repeated by moving the transparent object to recover its surface shape. This method is called Scanning From Heating. Considering the laser beam as a point heating source and the surface of the object locally flat at the impact zone, the Scanning From Heating method is extended to obtain the surface normals of the object, in addition to the 3D world coordinates. A scanner prototype based on Scanning From Heating method has been developed during the thesis.DIJON-BU Doc.électronique (212319901) / SudocSudocFranceF

Development of System Supervision and Control Software for a Micromanipulation System

Abstract-This paper presents the realization of a modular software architecture that is capable of handling the complex supervision structure of a multi degree of freedom open architecture and reconfigurable micro assembly workstation. This software architecture initially developed for a micro assembly workstation is later structured to form a framework and design guidelines for precise motion control and system supervision tasks explained subsequently through an application on a micro assembly workstation. The software is separated by design into two different layers, one for real-time and the other for non-realtime. These two layers are composed of functional modules that form the building blocks for the precise motion control and the system supervision of complex mechatronics systems