title: High dynamics and precision optical measurement using a position sensitive detector (PSD) in reflection-mode: application to 2D object tracking over a Smart Surface.
abstract: When related to a single and good contrast object or a laser spot, position sensing, or sensitive, detectors (PSDs) have a series of advantages over the classical camera sensors, including a good positioning accuracy for a fast response time and very simple signal conditioning circuits. To test the performance of this kind of sensor for microrobotics, we have made a comparative analysis between a precise but slow video camera and a custom-made fast PSD system applied to the tracking of a diffuse-reflectivity object transported by a pneumatic microconveyor called Smart-Surface. Until now, the fast system dynamics prevented the full control of the smart surface by visual servoing, unless using a very expensive high frame rate camera. We have built and tested a custom and low cost PSD-based embedded circuit, optically connected with a camera to a single objective by means of a beam splitter. A stroboscopic light source enhanced the resolution. The obtained results showed a good linearity and a fast (over 500 frames per second) response time which will enable future closed-loop control by using PSD.
authors.affiliation: FIE&FIMMR, University Valahia of Targoviste, B-dul Unirii Nr.18-20, 130082 Targoviste, Romania.
authors.forename: Ioan Alexandru
authors.initials: IA
authors.lastname: Ivan
authors.forename: Mihai
authors.initials: M
authors.lastname: Ardeleanu
authors.forename: Guillaume J
authors.initials: GJ
authors.lastname: Laurent
mesh_terms: D000465:Algorithms; D004867:Equipment Design / Q000295:instrumentation; D055095:Optics and Photonics; D010969:Plastics / Q000737:chemistry; D012371:Robotics; D012588:Scintillation Counting; D012984:Software
chemical_list: D010969:Plastics