Optomechatronics: Fusion of Optical and Mechatronic Engineering (Mechanical and Aerospace Engineering Series)

585 Pages·2005·28.89 MB·English

by  Hyungsuck Cho

Fusion of Optical and Mechatronic Engineering
© 2006 by Taylor & Francis Group, LLC
Mechanical Engineering Series
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© 2006 by Taylor & Francis Group, LLC
Fusion of Optical and Mechatronic Engineering
Hyungsuck Cho
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Library of Congress Cataloging-in-Publication Data
Cho, Hyungsuck
Optomechatronics / by Hyungsuck Cho
p. cm.
Includes bibliographic references and index.
ISBN 0-8493-1969-2 (alk. paper)
1. Mechatronics. 2. Optical detectors.
TJ163.12.C44 2005
670.42'7--dc22 2005050570
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© 2006 by Taylor & Francis Group, LLC
Author
HyungsuckChogainedhisB.S.degreeatSeoulNationalUniversity,Korea
in 1971, an M.S. degree at Northwestern University, Illinois in 1973, and a
Ph.D. atthe University of California atBerkeley,California in 1977.
FollowingatermasPostdoctoralFellowintheDepartmentofMechanical
Engineering, University of California, Berkeley, he has joined the Korea
Advanced InstituteofScienceand Technology (KAIST) in 1978.
He was made a Humboldt Fellow in 1984-1985, won Best Paper Award
at the International Symposium on Robotics and Manufacturing, USA in
1994,andtheThatcherBrothersAwards,InstituteofMechanicalEngineers,
UK in1998.
Since 1993, he has been an associate editor or served on the editorial
boards of several international journals, including IEEE Transactions on
Industrial Electronics, and has been guest editor for three issues, including
IEEE Transactions IE Optomechatronicsin 2005.
Dr. Cho wrote the handbook Optomechatronic Systems: Technique and
Application, has contributed chapters to 10 other books and has published
435 technical papers, primarily in international journals.
Hewasthefoundinggeneralchairforfourinternationalconferencesand
the general chair or co-chair for 10 others, including the SPIE Optomecha-
tronicSystems Conferenceheld in Boston in 2000 and2001.
His research interests are focused on optomechatronics, environment
perception and recognition for mobile robots, optical vision-based percep-
tion, control, and recognition, and application of artificial intelligence/
machineintelligence.Hehassupervised136M.S.thesesand50Ph.D.theses.
For the achievements in his research work, he was made POSCO
professor from 1995 to 2002.
© 2006 by Taylor & Francis Group, LLC
Preface
In recent years, optical technology has been increasingly incorporated into
mechatronictechnology,andviceversa.Theconsequenceofthetechnology
marriage has led to the evolution of most engineered products, machines,
and systems towards high precision, downsizing, multifunctionalities and
multicomponents embedded characteristics. This integrated engineering
field is termed optomechatronic technology. The technology is the synergistic
combination of optical, mechanical, electronic, and computer engineering,
andthereforeismultidisciplinaryinnature,thusrequiringtheneedtoview
this from somewhat different aspects and through an integrated approach.
However, not much systematic effort for nurturing students and engineers
has been made in the past by stressing the importance of the multitech-
nology integration.
Thegoalofthisbookisforittoenablethereadertolearnhowthemultiple
technologiescanbeintegratedtocreatenewandaddedvalueandfunction
fortheengineeringsystemsunderconsideration.Tofacilitatethisobjective,
the material brings together the fundamentals and underlying concepts of
this optomechatronic field into one text. The book therefore presents the
basic elements of the engineering fields ingredient to optomechatronics,
while putting emphasis on the integrated approach. It has several distinct
features as a text which make it differ somewhat from most textbooks or
monographs in that it attempts to provide the background, definition, and
characteristics of optomechatronics as a newly defined, important field
of engineering, an integrated view of various disciplines, view of system-
oriented approach, and a combined view of macro–micro worlds, the
combinationofwhichlinkstothecreativedesignandmanufactureofawide
rangeofengineering products and systems.
To this end a variety of practical system examples adopting optomecha-
tronicprinciplesareillustratedandanalyzedwithaviewtoidentifyingthe
natureof optomechatronictechnology.The subjectmatter isthereforewide
rangingandincludesoptics,machinevision,fundamentalofmechatronics,
feedback control, and some application aspects of micro-opto-electro-
mechanical system (MOEMs). With the review of these fundamentals,
the book shows how the elements of optical, mechanical, electronic, and
microprocessors can be effectively put together to create the fundamental
functionalities essential for the realization of optomechatronic technology.
Emphasizing the interface between the relevant disciplines involving the
integration, it derives a number of basic optomechatronic units. The book
© 2006 by Taylor & Francis Group, LLC
thengoesoninthefinalparttodeal,fromtheintegratedperspectives,with
thedetailsofpracticaloptomechatronicsystemscomposedofandoperated
by such basic components.
The introduction presents some of the motivations and history of the
optomechatronic technology by reviewing the technological evolution of
optoelectronics and mechatronics. It then describes the definition and
fundamentalconceptofthetechnologythatarederivablefromthenatureof
practicaloptomechatronicsystems.
Chapter 2 reviews the fundamentals of optics in some detail. It covers
geometricopticsandwaveopticstoprovidethebasisforthefusionofoptics
andmechatronics.
Chapter3treatstheoverviewofmachinevisioncoveringfundamentalsof
imageacquisition,imageprocessing,edgedetection,andcameracalibration.
This technology domain is instrumental to generation of optomechatronic
technology.
Chapter 4 presents basic mechatronic elements such as sensor, signal
conditioning, actuators and the fundamental concepts offeedback control.
This chapter along with Chapter 2 outline the essential parts that make
optomechatronicspossible.
Chapter 5 provides basic considerations for the integration of optical,
mechanical, and electrical signals, and the concept of basic functional
modules that can create optomechatronic integration and the interface for
such integration.
In Chapter 6, basic optomechatronic functional units that can be
generated by integration aretreated in detail. The units arevery important
tothedesignofoptomechatronicdevicesandsystems,sincetheseproducea
variety offunctionalities such as actuation, sensing, autofocusing, acoustic-
optic modulation, scanning and switchingvisual feedback control.
Chapter 7 represents a variety of practical systems of optomechatronic
nature that obey the fundamental concept of the optomechatronic integra-
tion. Among them are laser printers, atomic force microscopes (AFM),
optical storage disks, confocal microscopes, digital micromirror devices
(DMD) and visual tracking systems.
Themainintendedaudiencesofthisbookarethelowerlevelsofgraduate
students,academicandindustrialresearchers.Inthecaseofundergraduate
students, it is recommended for the upper level since it covers a variety of
disciplines, which, though fundamental, involve various different physical
phenomena. On a professional level, this material will be of interest to
engineering graduates and research/field engineers who function in
interdisciplinaryworkenvironmentsinthefieldsofdesignandmanufactur-
ing ofproducts, devices,and systems.
HyungsuckCho
© 2006 by Taylor & Francis Group, LLC
Acknowledgments
I wish to express my sincere appreciation to all who have contributed to
the development of this book. The assistance and patience of Acquiring
Editor Cindy Renee Carelli, have been greatly appreciated during the
writingphase.Herenthusiasmandencouragementhaveprovidedmewitha
greatstimulusinthecourseofthisbookwriting.Inaddition,Iwouldliketo
thank Jessica Vakili, project coordinator, Fiona Woodman, project manager,
and Tao Woolfe, project editor of Taylor and Francis Group, LLC, for
ensuringthatallmanuscriptswerereadyforproduction.Iamalsoindebted
tomyformerPh.Dstudents,Drs.WonSikPark,MinYoungKimandYoung
JunRohfortheirhelpfuldiscussions.SpecialthanksgotoHyunKiLeeand
allmylaboratorystudents,XiaodongTao,DeokHwaHong,KangMinPark,
Dal Jae Lee and Xingyong Song who have provided valuable help in
preparationoftherelevantmaterialsandproofreadingthetypedmaterials.
Finally,Iamgratefultomywife,EunSueKim,andmychildren,Janetteand
Young Je, who have tolerated me with patience and love and helped make
this book happen.
© 2006 by Taylor & Francis Group, LLC
Contents
1. Introduction: Understanding of Optomechatronic Technology.............1
2. Fundamentals ofOptics................................................................................31
3. Machine Vision:Visual Sensing and Image Processing.....................105
4. Mechatronic Elements forOptomechatronic Interface........................173
5. Optomechatronic Integration....................................................................255
6. Basic Optomechatronic Functional Units...............................................299
7. Optomechatronic Systemsin Practice.....................................................447
Appendix A1 SomeConsiderationsof Kinematics and
Homogeneous Transformation......................................565
Appendix A2 Structural BeamDeflection............................................573
Appendix A3 Routh Stability Criterion...............................................577
© 2006 by Taylor & Francis Group, LLC
1
Introduction: Understanding of
Optomechatronic Technology
CONTENTS
Historical Backgroundof Optomechatronic Technology................................4
Optomechatronics: Definitionand FundamentalConcept.............................8
Practical OptomechatronicSystems............................................................9
Basic Roles of Optical and MechatronicTechnologies..........................12
Basic Roles of Optical Technology.....................................................13
Basic Roles of MechatronicElements................................................15
Characteristics of OptomechatronicTechnology....................................16
Fundamental Functions of OptomechatronicSystems..................................20
Fundamental Functions......................................................................................21
IlluminationControl....................................................................................21
Sensing...........................................................................................................24
Actuating.......................................................................................................24
Optical Scanning..........................................................................................24
Visual/OpticalInformation Feedback Control.......................................24
Data Storage..................................................................................................25
Data Transmission/Switching...................................................................25
Data Display.................................................................................................25
Optical PropertyVariation..........................................................................26
SensoryFeedback-Based Optical SystemControl..................................26
Optical Pattern Recognition.......................................................................26
Remote Operation via Optical Data Transmission.................................27
Material Processing......................................................................................27
Summary...............................................................................................................27
References.............................................................................................................28
Most engineered devices, products, machines, processes, or systems have
moving parts and require manipulation and control of their mechanical or
dynamic constructions to achieve a desired performance. This involves the
use of modern technologies such as mechanism, sensor, actuator, control,
microprocessor, optics, software, communication, and so on. In the early
1
© 2006 by Taylor & Francis Group, LLC