Distributed Manipulation Algorithms for Massively Parallel Microfabricated Actuator Arrays

本研究以微电子机械结构阵列(MEMS)为研究对象，研究其操作任务。PIS正在开发微执行器机械的几何模型和大规模并行操作理论，并将为它们的评估开发有效的算法。他们已经设计、建造和测试了微型制造执行器的原型，并将演示操纵小型物体的控制策略。特别是，这项研究将开发和实施无传感器执行器阵列控制策略，以有效地在平面上定位平板零件。这项研究的主要目标是发展微尺度操纵的科学基础。减少感测的操纵策略在工业制造中非常成功，例如在振动碗喂料机中，或在索尼APOS系统等系统中。这些战略将扩展到微观规模。密集的器件阵列可以建模为矢量场。我们将分析这个场在刚体上产生的流动，以开发、评估和扩展微执行器阵列的操纵理论。它将展示如何使用简单的执行器控制策略来在没有传感器反馈的情况下将零件唯一地定向到对称。操纵算法基于可编程矢量场理论，适用于广泛的微执行器阵列。算法将在物理微阵列上实现，以验证理论的有效性。将设计、实施和测试使用微阵列对部件进行定向、分类和分离的策略。

This research investigates manipulation tasks with arrays of micro electromechanical structures (MEMS). The PIs are developing a geometric model for the mechanics of micro actuators and a theory of massively parallel manipulation, and will develop efficient algorithms for their evaluation. They have designed, built, and tested prototype microfabricated actuators, and will demonstrate control strategies to manipulate small objects. In particular, the research will develop and implement sensorless actuator array control strategies to efficiently orient flat parts in the plane. The main objective of the research concerns the development of a science base for micro-scale manipulation. Manipulation strategies with reduced sensing have been highly successful in industrial manufacturing, e.g. in vibratory bowl feeders, or in systems such as the Sony APOS system. These strategies will be extended to the micro scale. A dense array of devices can be modeled as a vector field. The flow this field induces on a rigid body will be analyzed to develop, evaluate, and extend a theory of manipulation with micro-actuator arrays. It will be shown how simple actuator control strategies can be used to uniquely orient a part up to symmetry without sensor feedback. The manipulation algorithms are based on a theory of programmable vector fields, which is applicable to a wide range of micro-actuator arrays. The algorithms will be impl emented on physical micro-arrays to validate the theory. Strategies for orienting, sorting, and singulating parts using micro-arrays will be designed, implemented, and tested.