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Development and Evaluation of a Visual Feature Recognition Framework for a Robotic Assembly System

We are developing a robotic micro-assembly system. The camera system integrated therein shall be paired with a feature recognition framework to provide the user with information on part geometry and size, and to allow for visual servoing. Your task would be to develop and evaluate such a framework.

Keywords: Feature recognition, micro-assembly, robotics, mechatronics

  • In the last few decades, miniaturization has been observed to be one of the main driving forces in various sectors of industry. Assembling unique prototypes of such small devices is becoming increasingly challenging; hence, considerable effort has been put into the engineering of flexible, versatile micro-assembly systems, which can be used for the assembly of a wide range of different micro-systems. Such micro-assembly systems typically combine a robotic assembly station including a camera system with a visual or visuo-haptic user interface to control and monitor the assembly process. In the scope of an ongoing research project, we are currently developing a novel micro-assembly system with largely increased flexibility and intuitiveness.

    In the last few decades, miniaturization has been observed to be one of the main driving forces in various
    sectors of industry. Assembling unique prototypes of such small devices is becoming increasingly challenging; hence,
    considerable effort has been put into the engineering of flexible, versatile micro-assembly systems, which can be used for the assembly of a wide range of different micro-systems. Such micro-assembly systems typically combine a
    robotic assembly station including a camera system with a visual or visuo-haptic user interface to control and monitor the assembly process. In the scope of an ongoing research project, we are currently developing a novel micro-assembly system with largely increased flexibility and intuitiveness.

  • The camera feed provided to the user to monitor the assembly process can additionally be used to automatically recognize, measure, and track specific features of mechanical and electronic assembly parts such as threads, holes, or solder pads. This information can then be supplied to the user for instance as an overlay on top of the camera feed, or it can be used to automate certain assembly steps through visual servoing. Your task will be to devise and implement a first visual feature recognition framework utilizing basic edge detection to identify elemental geometries, to then extend this framework towards more complex features encountered in the given micro-assembly application, and to supply the generated information to the user in an intuitive way. The thesis will be concluded by demonstrating functionality of your framework through a realistic test scenario.

    The camera feed provided to the user to monitor the assembly process can additionally be used
    to automatically recognize, measure, and track specific features of mechanical and electronic assembly parts such as
    threads, holes, or solder pads. This information can then be supplied to the user for instance as an overlay
    on top of the camera feed, or it can be used to automate certain assembly steps through visual servoing. Your task
    will be to devise and implement a first visual feature recognition framework utilizing basic edge detection to
    identify elemental geometries, to then extend this framework towards more complex features encountered in the given
    micro-assembly application, and to supply the generated information to the user in an intuitive way. The thesis will
    be concluded by demonstrating functionality of your framework through a realistic test scenario.

  • Cédric Duverney (cedric.duverney@unibas.ch) - biromed.dbe.unibas.ch

    Cédric Duverney (cedric.duverney@unibas.ch) - biromed.dbe.unibas.ch

Calendar

Earliest start2021-02-01
Latest end2021-12-31

Location

Bio-Inspired RObots for MEDicine-Laboratory (BIROMED-Lab) (UNIBAS)

Other involved organizations
Sensory-Motor Systems Lab (ETHZ)

Labels

Semester Project

Bachelor Thesis

Master Thesis

Topics

  • Information, Computing and Communication Sciences
  • Engineering and Technology

Documents

NameCommentSizeActions
2021_MT_DevelopmentAndEvaluationOfAVisualFeatureRecognitionFrameworkForARoboticAssemblySystem.pdf1.1MBDownload
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