Image-based visual servoing through micropart reflection for the microassembly process
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents an image-based visual servoing algorithm to perform the microassembly process with an uncalibrated manipulator. The proposed algorithm requires only the use of the visual information from a single-vision camera to evaluate the unknown Jacobian matrix. Two methodologies were examined to estimate the Jacobian matrix on-line. Through monitoring the selected feature and the image reflection from the surface, the 3D position between the slot and the micropart can be evaluated successfully for the assembly process. Experimental results confirmed that the Jacobian matrix computed from both methods can evaluate the position with an accuracy of 3.6 µm initially. By using a proportional gain control, the position accuracy can be improved to within 1 µm. Measurement noise during the image acquisition is determined to be one of the root causes of the evaluation accuracy.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it