Publications

Three-dimensional (3D) information in a physical security system is a highly useful dis- criminator. The two-dimensional data from an imaging systems fails to provide target dis- tance and three-dimensional motion vector, which can be used to reduce nuisance alarm rates and increase system effectiveness. However, 3D imaging devices designed primarily for use in physical security systems are uncommon. This report discusses an architecture favorable to physical security systems; an inexpensive snapshot 3D imaging system utilizing a simple illumination system. The method of acquiring 3D data, tests to understand illumination de- sign, and software modifications possible to maximize information gathering capability are discussed.

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Sandia National Laboratories is exploring assembling micro, meso, and miniature scale parts into a variety of tiny devices. These devices are comprised of parts ranging from tens of microns to a few millimeters in size. In support of this activity, a rapid prototyping assembly workstation that enables an operator to assemble three-dimensional devices with a minimum of fixturing has been developed. This workstation consists of precision robotics, stages, cameras, and sensors integrated in a way that facilitates human interaction. Although many of the workstation components are commercially available, no inexpensive and durable grippers of suitably large range of motion could be found. This paper describes the design and testing of a novel micro gripper based on precision tweezers and actuated with a micro servo that has proven extremely useful for the operator directed assembly of micro scale devices. Copyright © 2005 by ASME.

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