EAGER: Cybermanufacturing: Design Tools for Nanofactories with Robust Millimetric Assemblers

在这个探索性研究（EAGER）项目的早期概念资助中，该团队进行了研究，为纳米级制造的自动化和可重构机器人系统提供软件设计工具。他们将这些系统定义为晶圆级纳米工厂。实现这一愿景的关键因素是毫米级机器人生产的完全自动化，以及在纳米工厂晶圆上安装和可靠操作几百个这样的机器人的能力。在物理构建纳米工厂之前，用户将通过一种新颖的软件设计工具- NanoLRM，使用可组装的构建块来设计和优化其布局。该工具利用精益机器人微制造（LRM）原则，通过该原则，可以明智地研究与资源分配、精度要求、生产良率、生产率和成本相关的权衡。具体来说，以下工作是该项目的一部分：使用区间分析对装配、运动和过程的不确定性进行建模，以选择和模拟纳米工厂中基于精度的规划器和控制器，并采用参数优化工具进行成本、产量和生产率权衡研究。

In this EArly-concept Grant for Exploratory Research (EAGER) project, the team conducts research leading to software design tools for automated and reconfigurable robotic systems that manufacture at the nano scale. They define these systems as Wafer-Scale Nanofactories.The key ingredient in realizing this vision is full automation of the production of millimeter scale robots, and the ability to install and reliably operate a few hundred such robots on the nanofactory wafer. Before physically building the nanofactory, users will design and optimize its layout using assemblable building blocks through a novel software design tool - NanoLRM. This tool utilizes Lean Robotic Micromanufacturing (LRM) principles, through which tradeoffs related to resource allocation, precision requirements, production yield, rate and cost can be judiciously studied. Specifically, the following work is part of this project: modelling assembly, motion, and processes uncertainties using interval analysis, to select and simulate precision-based planners and controllers in the nanofactory, and employ parametric optimization tools for cost, yield and production rate trade-off studies.