NDLI: A miniature bio-inspired position sensing device for the control of micro-aerial robots

Content Provider	IEEE Xplore Digital Library
Author	Juston, R. Viollet, S.
Copyright Year	2012
Description	Author affiliation: Aix-Marseille Université, CNRS, ISM UMR 7287, 13288, cedex 09, France (Juston, R.; Viollet, S.)
Abstract	Here we present an example of a novel bio-inspired active vision system with a vibrating eye that can rotate freely by means of a miniature rotary piezo motor. Active micro-vibrations were applied to the eye by using an innovative micro-mechanism based on a tiny stepper motor. The hyperacuity of this inexpensive position-sensing device, which results from the active micro-vibrations, makes it capable of measuring the angular position of a contrasting edge. Among the many miniature rotary actuators available, piezomotors are often used when small size, low mass, great accuracy and high dynamics are required. The newly off-the-shelf miniature ultrasonic piezomotor presented in this study along with its position servo control system is supplied ready-integrated into a printed circuit board (PCB). The PCB Piezomotor (or PCBMotor) has many advantages, such as high torque (it requires no reducer), fast dynamics (the mechanical time constant is 3ms), a low mass (1gram) and a compact size (it is only 20mm in diameter and 2.6mm thick). The results of the tests conducted show that the performances of the PCBmotor connected to a custom-made miniature electronic driver make it a good alternative to the actuators classically used in robotic applications. In addition we present a simple visual processing, implemented onto a tiny microcontroller, composed of simple linear filtering and arithmetic operations. We show that our visual scanning sensor is a genuine position sensing device able to measure the relative angular position of a visual object with only two pixels and very few computational resources.
Starting Page	1118
Ending Page	1124
File Size	1890448
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385937
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Visualization Rotors Stators Visual systems Retina
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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