CISE Postdoctoral Research Associates in Experimental Computer Science: Challenges in Micromanipulation: Massively Parallel MEMS Algorithms and Systems

9901407唐纳德，布鲁斯兰德尔达特茅斯学院CISE博士后研究员在实验计算机科学微操作的挑战：大规模并行MEMS算法和系统作为MEMS（微机电系统）制造技术的改进增加了微机械的可用性和多样性，工程师正在定义越来越多的任务，他们可能会把。使用MEMS单元的大型协调系统执行任务的想法激励了用于设计和控制这些设备组的自动化算法方法的开发。 该研究的重点是算法和系统，使MEMS执行分布式操作任务，承担的挑战，设计，控制和编程的并行阵列的微执行器。新的算法和MEMS大规模并行分布式操作正在开发中。 这需要设计、制造和控制新的MEMS器件，以及设计、构造和编程新的控制系统、算法和用于任务级操作的软件。 算法和系统正在开发的部分方向，分割，排序，并提出。 本研究的主要重点是扩展可编程矢量场的理论，利用传感器反馈，并调查闭环控制算法，在线算法，分布式，本地控制的纤毛阵列。 目前的准静态矢量场模型正在扩展为全动态模型。 控制的不确定性和错误的影响，开发运动规划的范例，是有效的不确定性也正在调查。 这将导致一个更现实和强大的几何理论的规划和操纵，这是正在测试的实现算法的物理MEMS阵列设备。 最后，正在探索将平行微型机器人系统应用于生物医学系统和人体增强。

9901407 Donald, Bruce Randall Dartmouth College CISE Postdoctoral Research Associates in Experimental Computer Science Challenges in Micromanipulation: Massively Parallel MEMS Algorithms and SystemsAs improvements in fabrication technology for MEMS (MicroElectoMechanical Systems) increase the availability and diversity of micromachines, engineers are defining a growing number of tasks to which they may be put. The idea of carrying out tasks using large coordinated systems of MEMS units motivates the development of automated, algorithmic methods for designing and controlling these groups of devices. The research focuses on algorithms and systems that enable MEMS to perform distributed manipulation tasks, taking on the challenge of design, control, and programming of massively-parallel arrays of microactuators.New algorithms and MEMS for massively parallel distributed manipulation are being developed. This entails the design, fabrication, and control of new MEMS devices, together with the design, construction, and programming of new control systems, algorithms, and software for task-level manipulation. Algorithms and systems are being developed for part orientation, singulation, sorting, and posing. The primary focus of this research is to extend the theory of programmable vector fields to exploit sensor feedback, and investigate closed loop control algorithms, on-line algorithms, and distributed, local control of ciliary arrays. A current quasi-static vector field model is being extended to a full dynamic model. The effect of control uncertainty and error to develop motion planning paradigms that are effective under uncertainty are also being investigated. This should result in a more realistic and robust geometric theory of planning and manipulation, which is being tested by implementing algorithms on physical MEMS array devices. Finally, the application of massively-parallel micro-robotic systems to biomedical systems and human augmentation is being explored.