REU: MEMS Algorithms and Systems for Distributed Manipulation

摘要IIS-9906790Donald，布鲁斯-达特茅斯学院，$105,112-12。用于分布式操纵的MEMS算法和系统这是一个连续三年的奖项的第一年资助。所提出的研究集中在使MEMS能够执行分布式操纵任务的算法和系统，以应对大规模并行微执行器阵列的设计、控制和编程的挑战。MEMS设备阵列可以通过振荡或纤毛作用，以灵活和可预测的方式移动和定位微小部件，如集成电路芯片。可编程力场理论可以对这一动作进行建模，从而产生强大而通用的微操作策略的算法。提出的研究将为大规模并行分布式操作开发新的算法和新的MEMS系统。这需要设计、制造和控制新的MEMS器件，以及用于任务级操作的新控制系统、算法和软件的设计、构造和编程。PI的团队将研究零件定位、分离、排序和摆姿势的算法和系统。他们将扩展可编程矢量场理论，开发通用馈线定向设备，利用传感器反馈，并研究闭环控制算法、在线算法以及纤毛阵列的分布式本地控制。最后，PI的团队将探索大规模并行系统和力场在结构生物学和人类增强中的应用。

Abstract IIS-9906790Donald, BruceDartmouth College $105,112 - 12 mos.MEMS Algorithms and Systems for Distributed ManipulationThis is the first year funding of a three year continuing award. The proposed 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. Arrays of MEMS devices can move andposition tiny parts, such as integrated circuit chips, in flexible and predictable ways by oscillatory or ciliary action. The theory of programmable force fields can model this action, leading to algorithms for powerful and general micromanipulation strategies. The proposed research will develop new algorithms and new MEMS systems for massively parallel distributed manipulation. 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. The PI's team will investigate algorithms and systems for part orientation, singulation, sorting, and posing. They will extend the theory of programmable vector fields, develop universal feeder-orienter devices, exploit sensor feedback, and investigate closed loop control algorithms, online algorithms, and distributed, local control of ciliary arrays. Finally, the PI's team will explore the application of massively parallel systems and force fields to structural biology and human augmentation.