Finite state machine (FMS) addressable MEMS microrobots: a new paradigm for controlling large numbers of mems microrobots
Finite state machine (FMS) addressable MEMS microrobots: a new paradigm for controlling large numbers of mems microrobots
复制标题
有限状态机 (FMS) 可寻址 MEMS 微型机器人：控制大量 MEMS 微型机器人的新范例
DOI：
10.1109/marss.2017.8016534
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
M. Žefran
中科院分区：
文献类型：
--
作者：
I. Paprotny;M. Žefran
通过一个通用的全局控制信号同时控制多个MEMS微型机器人是微型机器人领域尚未解决的重大挑战之一。目前，大多数移动的，水，或空中的微型机器人，使用全球外部提供的领域的驱动和驱动。在一个更大的群内的microrobot运动的分化是通过他们的设计，导致这些全球领域的不同反应的差异。由于这些施加的场（或信号）的显著不同电平（例如，电压）的有限数量，这种区分对独立可控的微型机器人的数量施加了限制。在本文中，我们提出了一个新的范例，通过一个全球性的控制信号，通过引入一种机制，称为物理有限状态机（PFSM）的控制大量的MEMS微型机器人。PFSM可以基于全局控制和功率输送信号中的时间序列来引起机器人运动的变化。我们表明，PFSM可以实现使用应力工程MEMS microrobots，并表明，先前提出的次线性控制电压带宽O/n是一个直接的后果板上的两个状态的PFSM的应用。我们进一步表明，PFSM的概念可以扩展到板上的多态FSM，并可以在理论上进一步减少控制电压带宽为O（c），一个常数的约束。
Simultaneous control of many MEMS microrobots through a common, global, control signal is one of the grand unsolved challenges of microrobotics. At present, most mobile, aqueous, or aerial microrobots, are actuated and maneuvered using global externally supplied fields. The differentiation of the microrobot motion within a larger swarm is achieved through differences in their design that lead to different responses to these global fields. Such differentiation imposes a limit on the number of independently controllable microrobots due to the finite number of significant different levels (e.g. voltages) of these applied fields (or signals). In this paper, we present a new paradigm for control of large numbers of MEMS microrobots through a global control signal by introducing a mechanism call physical finite state machines (PFSM). PFSM can causes a change in the motion of the robot based on a temporal sequence in the global control and power delivery signal. We show that a PFSM can be implemented using stress-engineered MEMS microrobots, and show that the previously presented sub-linear control voltage bandwidth of O/n is a direct consequence of the application of an on-board two-state PFSM. We further show that the PFSM concept can be extended to on-board multistate FSM, and can, in theory further reduce the control voltage bandwith to O(c), a constant bound.