{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:59:10Z","timestamp":1760144350989,"version":"build-2065373602"},"reference-count":44,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2024,4,13]],"date-time":"2024-04-13T00:00:00Z","timestamp":1712966400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001665","name":"French National Research Agency (ANR)","doi-asserted-by":"publisher","award":["ANR-19-CE33-0002"],"award-info":[{"award-number":["ANR-19-CE33-0002"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["JSAN"],"abstract":"<jats:p>In this work, a closed loop control system is developed to optically localize and track micro-robots with high precision. These micro-robots (i.e., micro-conveyors) are in motion simultaneously across a smart surface.The developed method\u2019s primary objectives are to optimize their trajectories, avoid collisions between them, and control their position with micrometric resolution. This article presents and characterizes the tracking of a single micro-conveyor, and the method works similarly when multiple micro-robots move over the surface. Our tracking method starts with a scanning phase, where a 2D steering mirror, placed above the smart surface, reflects a laser beam toward the conveying surface seeking for the target. Localization occurs when this light beam reaches the micro-conveyor. By adding a retro-reflective element, that reflects the light in the same direction of the the incident light, onto the surface of the micro-conveyor, the light will be reflected towards a photodetector. Depending on the feedback from the photodetector, the steering mirror rotates to track the trajectory of the micro-conveyor. The tip-tilt angular values of the steering mirror allows the micro-conveyor position to be obtained via calibrated localization system. The aim of this work is to regulate the micro-conveyor, within a closed-loop control system, to reduce the positional error between the actual and desired position. The actual position value is measured in real-time application using our developed optical sensor. Results for tracking in the x-and y-axis have validated the proposed method, with an average tracking error less than 30 \u00b5m within a range 150 mm \u00d7 150 mm.<\/jats:p>","DOI":"10.3390\/jsan13020027","type":"journal-article","created":{"date-parts":[[2024,4,15]],"date-time":"2024-04-15T08:08:12Z","timestamp":1713168492000},"page":"27","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Closed-Loop Optical Tracking of a Micro-Conveyor over a Smart Surface"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3812-3076","authenticated-orcid":false,"given":"Saly","family":"Malak","sequence":"first","affiliation":[{"name":"Oman College for Management and Technology, Muscat 130, Oman"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hani Al","family":"Hajjar","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, University of Technology of Compiegne, 60203 Compi\u00e8gne Cedex, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3220-0122","authenticated-orcid":false,"given":"Erwan","family":"Dupont","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, University of Technology of Compiegne, 60203 Compi\u00e8gne Cedex, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0420-9285","authenticated-orcid":false,"given":"Muneeb-Ullah","family":"Khan","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, University of Technology of Compiegne, 60203 Compi\u00e8gne Cedex, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4439-6417","authenticated-orcid":false,"given":"Christine","family":"Prelle","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, University of Technology of Compiegne, 60203 Compi\u00e8gne Cedex, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Frederic","family":"Lamarque","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, University of Technology of Compiegne, 60203 Compi\u00e8gne Cedex, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,4,13]]},"reference":[{"key":"ref_1","unstructured":"Diederichs, C., Mikczinski, M., and Tiemerding, T. 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