{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T12:06:49Z","timestamp":1774872409603,"version":"3.50.1"},"reference-count":13,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2012,12,6]],"date-time":"2012-12-06T00:00:00Z","timestamp":1354752000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>When related to a single and good contrast object or a laser spot, position sensing, or sensitive, detectors (PSDs) have a series of advantages over the classical camera sensors, including a good positioning accuracy for a fast response time and very simple signal conditioning circuits. To test the performance of this kind of sensor for microrobotics, we have made a comparative analysis between a precise but slow video camera and a custom-made fast PSD system applied to the tracking of a diffuse-reflectivity object transported by a pneumatic microconveyor called Smart-Surface. Until now, the fast system dynamics prevented the full control of the smart surface by visual servoing, unless using a very expensive high frame rate camera. We have built and tested a custom and low cost PSD-based embedded circuit, optically connected with a camera to a single objective by means of a beam splitter. A stroboscopic light source enhanced the resolution. The obtained results showed a good linearity and a fast (over 500 frames per second) response time which will enable future closed-loop control by using PSD.<\/jats:p>","DOI":"10.3390\/s121216771","type":"journal-article","created":{"date-parts":[[2012,12,6]],"date-time":"2012-12-06T11:04:02Z","timestamp":1354791842000},"page":"16771-16784","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":30,"title":["High Dynamics and Precision Optical Measurement Using a Position Sensitive Detector (PSD) in Reflection-Mode: Application to 2D Object Tracking over a Smart Surface"],"prefix":"10.3390","volume":"12","author":[{"given":"Ioan","family":"Ivan","sequence":"first","affiliation":[{"name":"FIE&FIMMR, University Valahia of Targoviste, B-dul Unirii Nr.18-20, 130082 Targoviste, Romania"},{"name":"FEMTO-ST Institute, UMR CNRS-6174, UFC, ENSMM, UTBM, Dpt. AS2M, 24 Rue Alain Savary, 25000 Besancon, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mihai","family":"Ardeleanu","sequence":"additional","affiliation":[{"name":"FIE&FIMMR, University Valahia of Targoviste, B-dul Unirii Nr.18-20, 130082 Targoviste, Romania"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guillaume","family":"Laurent","sequence":"additional","affiliation":[{"name":"FEMTO-ST Institute, UMR CNRS-6174, UFC, ENSMM, UTBM, Dpt. AS2M, 24 Rue Alain Savary, 25000 Besancon, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2012,12,6]]},"reference":[{"key":"ref_1","unstructured":"Kragic, D., and Christensen, H.I. (2002). Survey on Visual Servoing for Manipulation, Technical Report of the Centre for Autonomous Systems, Numerical Analysis and Computer Science."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"651","DOI":"10.1109\/70.538972","article-title":"A tutorial on visual servo control","volume":"12","author":"Hutchinson","year":"1996","journal-title":"IEEE Trans. Robot. Autom"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Soares, L.R., Victor, H., and Alcalde, C. (2008, January 22\u201325). A Laboratory Platform for Teaching Computer Vision Control of Robotic Systems. Saratoga Springs, NY, USA.","DOI":"10.1109\/FIE.2008.4720423"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Fung, R.-F. (2010). Visual Servoing, InTech.","DOI":"10.5772\/187"},{"key":"ref_5","unstructured":"Hamamatsu PSD Manufacturer. Available online: http:\/\/jp.hamamatsu.com\/products\/sensor-ssd\/pd123\/index_en.html (accessed on 28 September 2012)."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"428","DOI":"10.1109\/JSEN.2002.806212","article-title":"A vision-based DSP embedded navigation sensor","volume":"2","author":"Gunnam","year":"2002","journal-title":"IEEE Sens. J"},{"key":"ref_7","unstructured":"Giubilato, M.P., and Mattiazzo, S. (2006, January 3\u20136). Novel Imaging Sensor for High Rate and High Resolution Applications. Stanford, CA, USA."},{"key":"ref_8","unstructured":"Hernndez, J.S., and Tur, J.M.M. (2006, January 17\u201320). A 2D Unknown Contour Recovery Method Immune to System Non-linear Effects. Kunming, China."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Wang, C., Chen, W., and Tomizuka, M. (2012, January 14\u201318). Robot End-effector Sensing with Position Sensitive Detector and Inertial Sensors. Saint Paul, MN, USA.","DOI":"10.1109\/ICRA.2012.6225180"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"9687","DOI":"10.3390\/s101109687","article-title":"Measuring relative-story displacement and local inclination angle using multiple position-sensitive detectors","volume":"10","author":"Matsuya","year":"2010","journal-title":"Sensors"},{"key":"ref_11","unstructured":"Ortiz, R.M., and Riviere, C. (2003, January 17\u201321). Tracking Rotation and Translation of Laser Microsurgical Instruments. Cancun, Mexico."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1016\/j.sna.2010.09.013","article-title":"Design and fabrication of a new two-dimensional pneumatic micro-conveyor","volume":"164","author":"Zeggari","year":"2010","journal-title":"Sens. Actuators A: Phys"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"515","DOI":"10.1016\/j.mechatronics.2011.04.005","article-title":"A MEMS-based pneumatic micro-convey or for planar micromanipulation","volume":"22","author":"Yahiaoui","year":"2012","journal-title":"Mechatronics"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/12\/12\/16771\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:54:04Z","timestamp":1760219644000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/12\/12\/16771"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,12,6]]},"references-count":13,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2012,12]]}},"alternative-id":["s121216771"],"URL":"https:\/\/doi.org\/10.3390\/s121216771","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,12,6]]}}}