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Eduardo Castillo-Castaneda
Instituto Politécnico Nacional-CICATA Querétaro, Querétaro 76090, Mexico

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Journal article
Published: 21 June 2021 in Actuators
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The increasing use of robots in the industry, the growing energy prices, and higher environmental awareness have driven research to find new solutions for reducing energy consumption. In additional, in most robotic tasks, energy is used to overcome the forces of gravity, but in a few industrial applications, the force of gravity is used as a source of energy. For this reason, the use of magnetic springs with actuators may reduce the energy consumption of robots performing trajectories due their high-hardness magnetic properties of energy storage. Accordingly, this paper proposes a magnetic spring configuration as an energy-storing system for a two DoF humanoid arm. Thus, an integration of the magnetic spring system in the robot is described. A control strategy is proposed to enable autonomous use. In this paper, the proposed device is modeled and analyzed with simulations as: mechanical energy consumption and kinetic energy rotational and multibody dynamics. Furthermore, a prototype was manufactured and validated experimentally. A preliminary test to check the interaction between the magnetic spring system with the mechanism and the trajectory performance was carried out. Finally, an energy consumption comparison with and without the magnetic spring is also presented.

ACS Style

Jhon Rodríguez-León; Ilse Cervantes; Eduardo Castillo-Castañeda; Giuseppe Carbone; Daniele Cafolla. Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm. Actuators 2021, 10, 136 .

AMA Style

Jhon Rodríguez-León, Ilse Cervantes, Eduardo Castillo-Castañeda, Giuseppe Carbone, Daniele Cafolla. Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm. Actuators. 2021; 10 (6):136.

Chicago/Turabian Style

Jhon Rodríguez-León; Ilse Cervantes; Eduardo Castillo-Castañeda; Giuseppe Carbone; Daniele Cafolla. 2021. "Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm." Actuators 10, no. 6: 136.

Journal article
Published: 13 January 2021 in Applied Sciences
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This article discusses the mechanical redesign of a finger rehabilitation device based on a slider-crank mechanism. The redesign proposal is to obtain a smaller and more portable device that can recreate the motion trajectories of a finger. The real finger motion trajectories were recorded using a motion capture system. The article focused on the optimal synthesis of the rehabilitation device mechanism formulated as a classic trajectory generation problem. The proposed approach was combined with the recorded finger movements and solved using the genetic algorithm (GA) method. Optimization criteria and constraints were successively formulated and solved using a mono-objective function.

ACS Style

Araceli Zapatero-Gutiérrez; Eduardo Castillo-Castañeda; Med Amine Laribi. On the Optimal Synthesis of a Finger Rehabilitation Slider-Crank-Based Device with a Prescribed Real Trajectory: Motion Specifications and Design Process. Applied Sciences 2021, 11, 708 .

AMA Style

Araceli Zapatero-Gutiérrez, Eduardo Castillo-Castañeda, Med Amine Laribi. On the Optimal Synthesis of a Finger Rehabilitation Slider-Crank-Based Device with a Prescribed Real Trajectory: Motion Specifications and Design Process. Applied Sciences. 2021; 11 (2):708.

Chicago/Turabian Style

Araceli Zapatero-Gutiérrez; Eduardo Castillo-Castañeda; Med Amine Laribi. 2021. "On the Optimal Synthesis of a Finger Rehabilitation Slider-Crank-Based Device with a Prescribed Real Trajectory: Motion Specifications and Design Process." Applied Sciences 11, no. 2: 708.

Conference paper
Published: 10 November 2020 in Mechanical Engineering and Materials
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Currently, many equipment manufacturers for internal pipe inspection propose robotic systems since they move safe and efficiently, adapting to the size and shape characteristics of the commercial pipes used in urban and industrial infrastructure. This work presents the development of a mobile robot with wheeled-legs capable of adapting to variable diameter pipes and elbow shapes connectors. The robot has four wheeled-legs, the wheels of two of them are actuated by servomotors. The synchronized movement of the active wheels allows the robot to move in any direction. The robot has a camera that records a video as it travels in the pipe. The wheeled-legs can extend or retract independently by means of a torsion spring; then the robot adapts to pipe dimensions with enough force to move vertically. A prototype of the robot was built and its operation was tested in a pipe model consisting of: straight pipe sections, variable diameter Sections (6 and 8 in.), and also elbow type connections at 90 and 45°.

ACS Style

Eduardo Castillo-Castañeda; Ana Rocío Córdoba-Malaver. Mobile Robot with Wheeled-Legs for Inspection of Pipes with Variable Diameter and Elbow Shapes. Mechanical Engineering and Materials 2020, 325 -331.

AMA Style

Eduardo Castillo-Castañeda, Ana Rocío Córdoba-Malaver. Mobile Robot with Wheeled-Legs for Inspection of Pipes with Variable Diameter and Elbow Shapes. Mechanical Engineering and Materials. 2020; ():325-331.

Chicago/Turabian Style

Eduardo Castillo-Castañeda; Ana Rocío Córdoba-Malaver. 2020. "Mobile Robot with Wheeled-Legs for Inspection of Pipes with Variable Diameter and Elbow Shapes." Mechanical Engineering and Materials , no. : 325-331.

Journal article
Published: 28 September 2020 in IEEE/ASME Transactions on Mechatronics
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Recently, research on hybrid mobile robots is attracting considerable interest due to the ability of these systems to perform service tasks in heterogeneous scenarios and irregular terrains. This paper proposes a specific hybrid locomotion configuration, which combines legs and Mecanum-omniwheels into a six-legged hexapod robot. Theoretical backgrounds and open issues are addressed by considering some challenging problems such as: gait planning, modeling omnidirectional motion and designing a control architecture for combining locomotion modes. The paper demonstrates suitability, feasibility and successful performance of the proposed locomotion strategies and presents experimental results and novel scientific contributions regarding the motion of hybrid mobile robots.

ACS Style

Ernesto C. Orozco-Magdaleno; Fernando Gomez-Bravo; Eduardo Castillo-Castaneda; Giuseppe Carbone. Evaluation of Locomotion Performances for a Mecanum-Wheeled Hybrid Hexapod Robot. IEEE/ASME Transactions on Mechatronics 2020, 26, 1657 -1667.

AMA Style

Ernesto C. Orozco-Magdaleno, Fernando Gomez-Bravo, Eduardo Castillo-Castaneda, Giuseppe Carbone. Evaluation of Locomotion Performances for a Mecanum-Wheeled Hybrid Hexapod Robot. IEEE/ASME Transactions on Mechatronics. 2020; 26 (3):1657-1667.

Chicago/Turabian Style

Ernesto C. Orozco-Magdaleno; Fernando Gomez-Bravo; Eduardo Castillo-Castaneda; Giuseppe Carbone. 2020. "Evaluation of Locomotion Performances for a Mecanum-Wheeled Hybrid Hexapod Robot." IEEE/ASME Transactions on Mechatronics 26, no. 3: 1657-1667.

Conference paper
Published: 19 June 2020 in Mechanical Engineering and Materials
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One fundamental exercise for the upper extremity rehabilitation is the arm pronosupination, few rehabilitation devices can perform this exercise together with elbow or shoulder movements. The main contribution of this paper is the design and construction of a mechanical device for the pronosupination movement that can be easily mounted on commercially available arm rehabilitation systems. The proposed mechanical device can operate automatically, actuated by a motor, or manually actuated by the patient’s hand. It also has an optical sensor that provides the Cartesian coordinates of its center in the horizontal plane; these coordinates can be used in a graphical user interface. The proposal includes a virtual interface that helps the patient to perform rehabilitation tasks through interactive games to observe the progress of rehabilitation and also to provide a friendly device to reduce stress during the rehabilitation process.

ACS Style

Maria Guadalupe Contreras-Calderón; Eduardo Castillo-Castañeda. PRSX: An End-Effector for Pronation and Supination Adaptable to Arm Rehabilitation Devices. Mechanical Engineering and Materials 2020, 149 -158.

AMA Style

Maria Guadalupe Contreras-Calderón, Eduardo Castillo-Castañeda. PRSX: An End-Effector for Pronation and Supination Adaptable to Arm Rehabilitation Devices. Mechanical Engineering and Materials. 2020; ():149-158.

Chicago/Turabian Style

Maria Guadalupe Contreras-Calderón; Eduardo Castillo-Castañeda. 2020. "PRSX: An End-Effector for Pronation and Supination Adaptable to Arm Rehabilitation Devices." Mechanical Engineering and Materials , no. : 149-158.

Journal article
Published: 07 April 2020 in Robotics
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Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Given the wide range of feasible operations, one of the key operation planning issues is related to the robot balancing during motion tasks. Usually this problem is related with the pose of the robot’s center of mass, which can be addressed using different mathematical techniques. This paper proposes a new practical technique for balancing wheeled-legged hexapod robots, where a Biodex Balance System model SD (for static & dynamic) is used to obtain the effective position of the center of mass, thus it can be recalculated to its optimal position. Experimental tests are carried out to evaluate the effectiveness of this technique and modify and improve the position of hexapod robots’ center of mass.

ACS Style

Ernesto Christian Orozco-Magdaleno; Daniele Cafolla; Eduardo Castillo-Castaneda; Giuseppe Carbone. Static Balancing of Wheeled-legged Hexapod Robots. Robotics 2020, 9, 23 .

AMA Style

Ernesto Christian Orozco-Magdaleno, Daniele Cafolla, Eduardo Castillo-Castaneda, Giuseppe Carbone. Static Balancing of Wheeled-legged Hexapod Robots. Robotics. 2020; 9 (2):23.

Chicago/Turabian Style

Ernesto Christian Orozco-Magdaleno; Daniele Cafolla; Eduardo Castillo-Castaneda; Giuseppe Carbone. 2020. "Static Balancing of Wheeled-legged Hexapod Robots." Robotics 9, no. 2: 23.

Journal article
Published: 21 March 2020 in Applied Sciences
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Patients with neurological or orthopedic lesions require assistance during therapies with repetitive movements. NURSE (cassiNo-qUeretaro uppeR-limb aSsistive dEvice) is an arm movement aid device for both right- and left-upper limb. The device has a big workspace to conduct physical therapy or training on individuals including kids and elderly individuals, of any age and size. This paper describes the mechanism design of NURSE and presents a numerical procedure for testing the mechanism feasibility that includes a kinematic, dynamic, and FEM (Finite Element Method) analysis. The kinematic demonstrated that a big workspace is available in the device to reproduce therapeutic movements. The dynamic analysis shows that commercial motors for low power consumption can achieve the needed displacement, acceleration, speed, and torque. Finite Element Method showed that the mechanism can afford the upper limb weight with light-bars for a tiny design. This work has led to the construction of a NURSE prototype with a light structure of 2.6 kg fitting into a box of 35 × 45 × 30 cm. The latter facilitates portability as well as rehabilitation at home with a proper follow-up. The prototype presented a repeatability of ±1.3 cm that has been considered satisfactory for a device having components manufactured with 3D rapid prototyping technology.

ACS Style

Betsy D. M. Chaparro-Rico; Daniele Cafolla; Marco Ceccarelli; Eduardo Castillo-Castaneda. NURSE-2 DoF Device for Arm Motion Guidance: Kinematic, Dynamic, and FEM Analysis. Applied Sciences 2020, 10, 2139 .

AMA Style

Betsy D. M. Chaparro-Rico, Daniele Cafolla, Marco Ceccarelli, Eduardo Castillo-Castaneda. NURSE-2 DoF Device for Arm Motion Guidance: Kinematic, Dynamic, and FEM Analysis. Applied Sciences. 2020; 10 (6):2139.

Chicago/Turabian Style

Betsy D. M. Chaparro-Rico; Daniele Cafolla; Marco Ceccarelli; Eduardo Castillo-Castaneda. 2020. "NURSE-2 DoF Device for Arm Motion Guidance: Kinematic, Dynamic, and FEM Analysis." Applied Sciences 10, no. 6: 2139.

Research article
Published: 03 July 2018 in Journal of Healthcare Engineering
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This paper presents an experimental characterization of NURSE, a device for arm motion guidance. The laboratory setup and testing modes are presented to explain the experimental procedure. Two exercises for the upper limb exercise are used to test the NURSE behaviour, and successful results are presented. Trajectories and linear accelerations are tested when the device performs the two exercises without and with load. In addition, torque and power consumption are considered to check the NURSE behaviour.

ACS Style

Betsy Dayana Marcela Chaparro-Rico; Daniele Cafolla; Marco Ceccarelli; Eduardo Castillo-Castaneda. Experimental Characterization of NURSE, a Device for Arm Motion Guidance. Journal of Healthcare Engineering 2018, 2018, 1 -15.

AMA Style

Betsy Dayana Marcela Chaparro-Rico, Daniele Cafolla, Marco Ceccarelli, Eduardo Castillo-Castaneda. Experimental Characterization of NURSE, a Device for Arm Motion Guidance. Journal of Healthcare Engineering. 2018; 2018 ():1-15.

Chicago/Turabian Style

Betsy Dayana Marcela Chaparro-Rico; Daniele Cafolla; Marco Ceccarelli; Eduardo Castillo-Castaneda. 2018. "Experimental Characterization of NURSE, a Device for Arm Motion Guidance." Journal of Healthcare Engineering 2018, no. : 1-15.

Conference paper
Published: 22 September 2015 in Mechanical Engineering and Materials
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This work presents a novel application of a four-bar mechanism to assist therapies during hand fingers rehabilitation. The system is a mechatronic device able to perform fingers flexoextension exercises and can be adapted to different hand sizes. Fingers flexoextension analysis is based on a kinematic finger model from index to little to determine the motion trajectory. A four-bar mechanism is proposed to develop this path and guide the fingertip in rehabilitation therapies. The kinematic analysis of the proposed mechanism is presented and simulated using MATLAB. Finally, a prototype for one finger was designed and built to validate the trajectories.

ACS Style

F. Aguilar-Pereyra; E. Castillo-Castaneda. Mechatronic Device to Assist Therapies During Hand Fingers Rehabilitation. Mechanical Engineering and Materials 2015, 183 -190.

AMA Style

F. Aguilar-Pereyra, E. Castillo-Castaneda. Mechatronic Device to Assist Therapies During Hand Fingers Rehabilitation. Mechanical Engineering and Materials. 2015; ():183-190.

Chicago/Turabian Style

F. Aguilar-Pereyra; E. Castillo-Castaneda. 2015. "Mechatronic Device to Assist Therapies During Hand Fingers Rehabilitation." Mechanical Engineering and Materials , no. : 183-190.

Conference paper
Published: 22 September 2015 in Mechanical Engineering and Materials
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In this work a reconfiguration strategy of a Delta-type robot to improve its kinematic performance is presented. The strategy considers an extra actuator that modifies locations and dimensions of the fixed platform. The direct kinematic analysis of the reconfigurable manipulator is determined to obtain the robot Jacobian, since this is used to analyse kinematic performance indices, such as Minimum singular value, Manipulability index and Global conditioned index.

ACS Style

Albert L. Balmaceda-Santamaría; E. Castillo-Castaneda. A Reconfiguration Strategy of a Parallel Delta-Type Robot to Improve the Kinematic Performance. Mechanical Engineering and Materials 2015, 111 -119.

AMA Style

Albert L. Balmaceda-Santamaría, E. Castillo-Castaneda. A Reconfiguration Strategy of a Parallel Delta-Type Robot to Improve the Kinematic Performance. Mechanical Engineering and Materials. 2015; ():111-119.

Chicago/Turabian Style

Albert L. Balmaceda-Santamaría; E. Castillo-Castaneda. 2015. "A Reconfiguration Strategy of a Parallel Delta-Type Robot to Improve the Kinematic Performance." Mechanical Engineering and Materials , no. : 111-119.

Journal article
Published: 05 August 2013 in Sensors
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This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand that determines the relative position of the robot with respect to a spherical object fixed in the working area of the robot. The positions of the end effector are related to the incremental positions of resolvers of the robot motors. A kinematic model of the robot is used to find a new group of parameters, which minimizes errors in the kinematic equations. Additionally, properties of the spherical object and intrinsic camera parameters are utilized to model the projection of the object in the image and thereby improve spatial measurements. Finally, several working tests, static and tracking tests are executed in order to verify how the robotic system behaviour improves by using calibrated parameters against nominal parameters. In order to emphasize that, this proposed new method uses neither external nor expensive sensor. That is why new robots are useful in teaching and research activities.

ACS Style

Alberto Traslosheros; José María Sebastián; Jesús Torrijos; Ricardo Carelli; Eduardo Castillo. An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor. Sensors 2013, 13, 9941 -9965.

AMA Style

Alberto Traslosheros, José María Sebastián, Jesús Torrijos, Ricardo Carelli, Eduardo Castillo. An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor. Sensors. 2013; 13 (8):9941-9965.

Chicago/Turabian Style

Alberto Traslosheros; José María Sebastián; Jesús Torrijos; Ricardo Carelli; Eduardo Castillo. 2013. "An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor." Sensors 13, no. 8: 9941-9965.

Journal article
Published: 01 July 2013 in Nexo Revista Científica
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En este artículo se desarrolla y aplica una metodología de diseño de un mecanismo paralelo tipo Delta en función de un espacio de trabajo prescrito, para cualquiera que sea su forma geométrica. La metodología se implementó en el software Matlab® sin utilizar una función objetivo, seleccionando los valores mínimos factibles de las variables de diseño, estas son las longitudes de: la plataforma fija y móvil, los eslabones o brazos que conforman la cadena cinemática y una distancia entre la base fija y el espacio prescrito. La forma geométrica del volumen prescrito fue definida en comparación con la forma del espacio de trabajo de dos robots tipo Delta disponibles en el mercado internacional. La metodología fue aplicada al robot paralelo tipo Delta Parallix LKF-2040, creado en el CICATA-Qro. del IPN, con el fin de diseñar su versión industrial.DOI: http://dx.doi.org/10.5377/nexo.v26i1.853

ACS Style

Albert Lester Balmaceda Santamaría; Eduardo Castillo Castañeda. Metodología de diseño de un robot paralelo tipo Delta de 3-GDL en función de un espacio de trabajo prescrito. Nexo Revista Científica 2013, 26, 24 -33.

AMA Style

Albert Lester Balmaceda Santamaría, Eduardo Castillo Castañeda. Metodología de diseño de un robot paralelo tipo Delta de 3-GDL en función de un espacio de trabajo prescrito. Nexo Revista Científica. 2013; 26 (1):24-33.

Chicago/Turabian Style

Albert Lester Balmaceda Santamaría; Eduardo Castillo Castañeda. 2013. "Metodología de diseño de un robot paralelo tipo Delta de 3-GDL en función de un espacio de trabajo prescrito." Nexo Revista Científica 26, no. 1: 24-33.

Conference paper
Published: 01 January 2013 in IFToMM International Symposium on Robotics and Mechatronics
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ACS Style

E. Castillo-Castañeda. Pose Estimation of a Six Degrees of Freedom Pipe-Bender using a 3D-Visual Measurement System of High Accuracy. IFToMM International Symposium on Robotics and Mechatronics 2013, 799 -808.

AMA Style

E. Castillo-Castañeda. Pose Estimation of a Six Degrees of Freedom Pipe-Bender using a 3D-Visual Measurement System of High Accuracy. IFToMM International Symposium on Robotics and Mechatronics. 2013; ():799-808.

Chicago/Turabian Style

E. Castillo-Castañeda. 2013. "Pose Estimation of a Six Degrees of Freedom Pipe-Bender using a 3D-Visual Measurement System of High Accuracy." IFToMM International Symposium on Robotics and Mechatronics , no. : 799-808.

Journal article
Published: 22 April 2009 in Particle & Particle Systems Characterization
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Instant properties of agglomerated powders are linked to the size and structure of agglomerates. In this study, agglomerates structure was investigated through the measurement of their porosity. An image analysis method for 3D re‐construction of particle shape from silhouette was developed to measure the envelope volume of dehydrated milk agglomerates (1–2 mm). With known true density of the powder, the intra‐particular porosity of agglomerates could be estimated. It was found that intra‐particular porosity increases with agglomerates diameter indicating a fractal structure with a fractal dimension of 2.64. This allowed understanding the different behavior of large agglomerates settling and dissolving rapidly in water whilst small ones settle and dissolve slowly and must be avoided in a good instant powder.

ACS Style

Christelle Turchiuli; Eduardo Castillo-Castaneda. Agglomerates Structure Characterization Using 3D-Image Reconstruction. Particle & Particle Systems Characterization 2009, 26, 25 -33.

AMA Style

Christelle Turchiuli, Eduardo Castillo-Castaneda. Agglomerates Structure Characterization Using 3D-Image Reconstruction. Particle & Particle Systems Characterization. 2009; 26 (1-2):25-33.

Chicago/Turabian Style

Christelle Turchiuli; Eduardo Castillo-Castaneda. 2009. "Agglomerates Structure Characterization Using 3D-Image Reconstruction." Particle & Particle Systems Characterization 26, no. 1-2: 25-33.

Journal article
Published: 19 December 2008 in Meccanica
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A two-axis micro-lathe was developed in 1996 at the former Mechanical Engineering Laboratory in Tsukuba, Japan, for machining of small pieces as a part of the Micro-factory concept. Each axis is driven by a set of built-in PZT actuators. The work presented here concerns the design and implementation of a reference model control algorithm to improve the motion accuracy of the micro-lathe. The motion control was originally assured by a PI action considering dead zone. The performances of the reference model control were experimentally tested and compared with those obtained with PI control for four common trajectories used in manufacturing machines.

ACS Style

Eduardo Castillo-Castañeda; Yuichi Okazaki. Reference model control for improving motion accuracy of a micro lathe. Meccanica 2008, 44, 457 -464.

AMA Style

Eduardo Castillo-Castañeda, Yuichi Okazaki. Reference model control for improving motion accuracy of a micro lathe. Meccanica. 2008; 44 (4):457-464.

Chicago/Turabian Style

Eduardo Castillo-Castañeda; Yuichi Okazaki. 2008. "Reference model control for improving motion accuracy of a micro lathe." Meccanica 44, no. 4: 457-464.

Conference paper
Published: 01 January 2008 in Computer Vision
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This work presents a methodology and experimental results about the three dimensional reconstruction of small objects from an image sequence. The three dimensional model obtained from this methodology allows the volume estimation of particles less than 1 mm. More precisely, the particles studied were generated by an agglomeration process from milk powder. To validate this methodology, a mechanical device with six degrees of freedom was built; it allows the montage of the image acquisition system as well as the turning system that rotates the particles. The algorithm for image processing and volume estimation was implemented using a high level language.

ACS Style

Eduardo Castillo-Castañeda; Christelle Turchiuli. Volume Estimation of Small Particles Using Three-Dimensional Reconstruction from Multiple Views. Computer Vision 2008, 5099, 218 -225.

AMA Style

Eduardo Castillo-Castañeda, Christelle Turchiuli. Volume Estimation of Small Particles Using Three-Dimensional Reconstruction from Multiple Views. Computer Vision. 2008; 5099 ():218-225.

Chicago/Turabian Style

Eduardo Castillo-Castañeda; Christelle Turchiuli. 2008. "Volume Estimation of Small Particles Using Three-Dimensional Reconstruction from Multiple Views." Computer Vision 5099, no. : 218-225.