SGER: Micro and Nano-Robotics Motion Control and Self Assembly Algorithms

该项目旨在分别研究毫米和纳米范围内的机器人控制和物体组装。具体的研究课题包括开发原子力定位和力反馈操作系统的运动控制技术和算法，以及微和纳米机器人系统，包括微和分子尺度致动器（例如，电机，泵等）。还将研究这些致动器的各种拟议设计，并为这些系统制定现实的物理模型，包括(i)平面环境和（ii）流体环境（例如，微流体- mems架构和在流体环境中移动的机器人系统）。作为一个应用，我们将研究MEMS规模的巴贝奇机的发展，这是一种微尺度的机械计算机器，其长期目标是建立纳米尺度的可编程机器。由于被操纵分子的所有基本性质的不确定性以及缺乏在微观和分子尺度上对操纵系统的物理性质的完整表征，所提出的研究具有高风险。

This project seeks to investigate robotic control and assembly of objects in the millimeter and nanometer range, respectively. Specific topics of research include developing motion control techniques and algorithms for atomic force positioning and force-feedback manipulation systems and for micro and nano-robotic systems that include micro and molecular scale actuators (e.g., motors, pumps, etc.). Various proposed designs for these actuators will also be investigated, and realistic physical models will be formulated for such systems, including (i) environments on flat surfaces, and (ii) fluid environments (e.g., micro-fluid-MEMS architectures, and robotic systems that move in fluid environments). As one application, the development of a MEMS scale Babbage machine will be investigated, which is a micro-scale mechanical computing machine, with the long term aim of building nano-scale programmable machines. The proposed research is of high risk due to the uncertainty in all the essential properties of the molecules to be manipulated and lack of a complete characterization of the physical properties of the manipulation systems at this micro and molecular scale.