{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,29]],"date-time":"2025-10-29T03:14:07Z","timestamp":1761707647328,"version":"3.41.2"},"reference-count":18,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2004,4,1]],"date-time":"2004-04-01T00:00:00Z","timestamp":1080777600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2004,4,1]]},"abstract":"<jats:p>In order to bridge the increasing gap between the micro\u2010 and nanotechnologies, a European consortium is currently developing and investigating a cluster of mobile, wireless cubic centimetre\u2010sized microrobots. The control and sensor issues which are to be solved for such a robot system are demanding. This paper describes the work carried out by one of the project partners. An interferometrical principle employing the so\u2010called \u201cmechanical\u201d interferometer based on the Moir\u00e9\u2010effect is used for the position sensor system. Further sensor systems involve \u201clocal\u201d microscope cameras, for which the extraction of depth information is crucial.<\/jats:p>","DOI":"10.1108\/01439910410522847","type":"journal-article","created":{"date-parts":[[2004,2,23]],"date-time":"2004-02-23T17:53:34Z","timestamp":1077558814000},"page":"159-178","source":"Crossref","is-referenced-by-count":8,"title":["Exploring the micro\u2010 and nanoworld with cubic centimetre\u2010sized autonomous microrobots"],"prefix":"10.1108","volume":"31","author":[{"given":"R.","family":"Esta\u00f1a","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J.","family":"Seyfried","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Schmoeckel","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Thiel","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Buerkle","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"H.","family":"Woern","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022013020425440300_b1","doi-asserted-by":"crossref","unstructured":"Amidror, I. (2000), The Physics of the Moir\u00e9 Phenomenon, Kluwer Academic Publishers, Dordrecht.","DOI":"10.1007\/978-94-011-4205-2"},{"key":"key2022013020425440300_b2","unstructured":"Astrom, K.J. and Wittenmark, B. (1995), Adaptive Control, Addison\u2010Wesley Series in Electrical Engineering: Control Engineering, Addison\u2010Wesley, Reading, MA."},{"key":"key2022013020425440300_b3","doi-asserted-by":"crossref","unstructured":"Bar\u2010Shalom, Y. (2002), \u201cUpdate with out\u2010of\u2010sequence measurements in tracking: exact solution\u201d, IEEE Transactions on Aerospace and Electronic Systems, Vol. 28.","DOI":"10.1109\/TAES.2002.1039398"},{"key":"key2022013020425440300_b4","unstructured":"Breguet, J.M. (1998) Actionneurs stick and slip pour micro\u2010manipulateurs Dissertation No. 1756 EPFL Lausanne."},{"key":"key2022013020425440300_b5","unstructured":"Davidson, F. (1998), Study of fusion architectures for target tracking with Kalman filtering, Laboratoire de Radiocommunications et de Traitement du Signal, Rapport annuel d'activit\u00e9s 1997\u20101998."},{"key":"key2022013020425440300_b6","unstructured":"Grocholsky, B. (2002) Information\u2010theoretic control of multiple sensor platforms Dissertation University of Sydney."},{"key":"key2022013020425440300_b7","unstructured":"Haley, P., Soloway, D. and Gold, B. (1999), \u201cReal\u2010time adaptive control using neural generalized predictive control\u201d, Proceedings of the American Control Conference, Vol. 6, pp. 4278\u201082."},{"key":"key2022013020425440300_b8","unstructured":"Kay, S.M. (1993), Fundamentals of Statistical Signal Processing \u2013 Estimation Theory, Chapters 7 and 8, Prentice Hall, Englewood Cliffs, New Jersey, NJ."},{"key":"key2022013020425440300_b9","doi-asserted-by":"crossref","unstructured":"Narendra, K.S. and Mukhopadhyay, S. (1997), \u201cAdaptive control using neural networks and approximate models\u201d, IEEE Transactions on Neural Networks, Vol. 8 No. 3, pp. 475\u201085.","DOI":"10.1109\/72.572089"},{"key":"key2022013020425440300_b10","doi-asserted-by":"crossref","unstructured":"Nayar, S.K. and Nakagawa, Y. (1994), \u201cShape from focus\u201d, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 16 No. 8, pp. 824\u201031.","DOI":"10.1109\/34.308479"},{"key":"key2022013020425440300_b11","unstructured":"Noguchi, M. and Nayar, S.K. (1994), \u201cMicroscopic shape from focus using active illumination\u201d, 12th IAPR International Conference on Pattern Recognition IEEE, Vol. 1, pp. 147\u201052."},{"key":"key2022013020425440300_b12","unstructured":"Tenenbaum, J.M. (1970) \u201cAccommodation in computer vision\u201d PhD thesis Stanford University."},{"key":"key2022013020425440300_b13","doi-asserted-by":"crossref","unstructured":"Tsai, R.Y. (1987), \u201cA versatile camera calibration technique for high\u2010accuracy 3d machine vision metrology using off\u2010the\u2010shelf TV cameras and lenses\u201d, IEEE Journal of Robotics and Automation, No. 4.","DOI":"10.1109\/JRA.1987.1087109"},{"key":"key2022013020425440300_b14","doi-asserted-by":"crossref","unstructured":"Woern, H., Schmoeckel, F., Buerkle, A., Samitier, J., Puig\u2010Vidal, M., Johansson, S., Simu, U., Meyer, J.U. and Biehl, M. (2001), \u201cDecimeter\u2013 to centimeter\u2010sized mobile microrobots \u2013 the development of the MINIMAN system\u201d, SPIE's Int. Symp. on Intelligent Systems and Advanced Manufacturing, Conf. on Microrobotics and Microassembly, Boston, MA, USA, pp. 175\u201086.","DOI":"10.1117\/12.444124"},{"key":"key2022013020425440300_frg1","doi-asserted-by":"crossref","unstructured":"Buerkle, A., Schmoeckel, F., Kiefer, M., Amavasai, B., Caparrelli, F., Selvan, A. and Travis, J. (2001), \u201cVision\u2010based closed\u2010loop control of mobile microrobots for micro handling tasks\u201d, SPIE's Int. Symp. on Intelligent Systems and Advanced Manufacturing, Conference on Microrobotics and Microassembly, Boston, MA, USA, pp. 187\u201098.","DOI":"10.1117\/12.444125"},{"key":"key2022013020425440300_frg2","doi-asserted-by":"crossref","unstructured":"Esta\u00f1a, R. and Woern, H. (2003), \u201cMoir\u00e9\u2010based positioning system for microrobots\u201d, SPIE's Int. Conf. on Optical measurement Systems for Industrial Inspection III, Munich, Germany, pp. 431\u201042.","DOI":"10.1117\/12.499920"},{"key":"key2022013020425440300_frg3","doi-asserted-by":"crossref","unstructured":"Julier, S.J. and Uhlmann, J.K. (1997), \u201cA new extension of the Kalman filter to nonlinear systems\u201d, SPIE Proceedings, Vol. 3068, pp. 182\u201093.","DOI":"10.1117\/12.280797"},{"key":"key2022013020425440300_frg4","doi-asserted-by":"crossref","unstructured":"Welch, G.F. and Bishop, G. (1997), \u201cSCAAT: incremental tracking with incomplete information\u201d, in Whitted, T. (Ed.), Computer Graphics, SIGGRAPH 97 Conference Proceedings, ACM Press, Addison\u2010Wesley, Los Angeles, CA, USA, pp. 333\u201044.","DOI":"10.1145\/258734.258876"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910410522847","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910410522847\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910410522847\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:49:44Z","timestamp":1753400984000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/31\/2\/159-178\/177256"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,4,1]]},"references-count":18,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2004,4,1]]}},"alternative-id":["10.1108\/01439910410522847"],"URL":"https:\/\/doi.org\/10.1108\/01439910410522847","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2004,4,1]]}}}