TAILIEUCHUNG - The Robot Vision_1

The purpose of robot vision is to enable robots to perceive the external world in order to perform a large range of tasks such as navigation, visual servoing for object tracking and manipulation, object recognition and categorization, surveillance, and higher-level decision-making. Among different perceptual modalities, vision is arguably the most important one. | 1 Design and fabrication of soft zoom lens applied in robot vision Wei-Cheng Lina Chao-Chang A. Chenb Kuo-Cheng Huanga and Yi-Shin W angb aInstrument Technology Research Center National Applied Research Laboratories Taiwan b National Taiwan University of Science and Technology Taiwan 1. Introduction The design theorem of traditional zoom lens uses mechanical motion to precisely adjust the separations between individual or groups of lenses therefore it is more complicated and requires multiple optical elements. Conventionally the types of zoom lens can be divided into optical zoom and digital zoom. With the demands of the opto-mechanical elements the zoom ability of lens system was dominated by the optical and mechanical design technique. In recent years zoom lens is applied in compact imaging devices which are popularly used in Notebook PDA mobile phone and etc. The minimization of the zoom lens with excellent zoom ability and high imaging quality at the same time becomes a key subject of related efficient zoom lens design. In this decade some novel technologies for zoom lens have been presented and they can simply be classified into the following three types 1 Electro-wetting liquid lens Electro-wetting liquid lens is the earliest liquid lens which contains two immiscible liquids having equal density but different refractive index one is an electrically conductive liquid water and the other is a drop of oil silicon oil contained in a short tube with transparent end caps. When a voltage is applied because of electrostatic property the shape of interface between oil and water will be changed and then the focal length will be altered. Among the electro-wetting liquid lenses the most famous one is Varioptic liquid lens. 2 MEMS process liquid lens This type of liquid lens usually contains micro channel liquid chamber and PDMS membrane which can be made in MEMS process and then micro-pump or actuator is applied to pump liquid in out the liquid chamber. In this way the .

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