TAMUCC Robotics Lab

Texas A&M University - Corpus Christi

Text Box: Research Detail

Micro/Nano Assembly Workcell via Micro Visual Sensing 

Research title

NASA project

As today’s machines become ever complex for intricate tasks, the number of sensors grows for intelligent operations. Taking the large number of sensors into account, it is not trivial to detect, isolate and then control faulty sensors. In this paper, we propose fault tolerance architecture suitable for a massive sensor array often found in highly advanced systems such as autonomous robots. One example is the sensitive skin, a type of massive sensor array developed at the University of Wisconsin-Madison and now at NASA for autonomous guidance of machines in unknown environments. The entirety of such system needs to be able to work remotely without human attendance for an extended period of time. To that end, we propose a fault tolerant architecture for fault detection, isolation, and control (FDIC) to effectively tolerate failures in a massive array type sensor or sensor system. In addition, we discuss the evaluation results of the proposed FDIC system by means of fault injection and validation analysis as a measure of system reliability and performance.

U. of Wisconsin, Madison

D. Um, D. Ryu, B. Dong, D. Foor, K. Hawkins, “A novel flexible micro assembly system: implementation and performance analysis,” Journal of automation, Mobile Robotics & Intelligent Systems, vol. 4, no. 3, pp.10-15, July, 2010.


Dugan Um, Bahram Asiabanpour, Jesus Jimenez, “A Flexible Micro Manufacturing System for Micro Parts Assembly via Micro Visual Sensing and EAP based Grasping,” Journal of Advanced Manufacturing System, vol. 8, No. 2, pp. 137-152, 2009.


Tellers, M., Kurtz, M., Foor, D., McGregor, M., Asiabanpour, B., Um, D, “Thin film silicon dioxide micro-scale parts release by Ethylenediamine-Pyrocatechol-Water solution,” Flexible Automation and Intellignet Manufacturing 20TH International Conference, California State University, East Bay, July 12-14, 2010

To contact us:

Phone: 361-825-3381

Fax: 361-825-3056

E-mail: dugan.um@tamucc.edu