Multicriteria optimization in distributed micro-conveying platform

Abstract

In this paper, we study the optimal use of a conveying surface, called smart surface, using distributed microrobotic system that is designed to manipulate fragile micro objects. The smart surface is composed of a 2D array of decentralized micro-modules. Each micro-module is composed of a microactuator, a microsensor, computing and communication units. The cooperation among these micro-modules allows the micro-object to be accurately located and moved on the surface. We discuss in this paper the algorithmic solutions that allow the system to determine the best path to move an object from an initial to a target position in the surface. The optimality of the path is evaluated according to two different and complementary criteria corresponding to short and long term visions. The short term vision optimizes on the speed of conveyance. The long term vision optimizes on the lifespan of the system and maintenance issues. We describe the best way to deal with these two aspects and their impact on the smart surface performance. The results observed confirm the improvement of smart surface performance compared to a naive approach, with a gain in lifespan of up to 160% and good objects transfer times.

Short and long term optimization for micro-object conveying with air-jet modular distributed system

“…Regarding the authors' previous research, an initial study can be found in (19). The work presented here presents a more realistic modeling and a significant extension of the precedent study.…”

“…In (19), we proposed a synchronous algorithm which avoids the drawbacks above. Each block stores three scalar values corresponding to its RU L, T and next.…”

“…The global lifetime of the system relies on the lifetime of each block, and especially the impact of a given conveying path on the system durability. In a precedent work (19) we performed a detailed study on the optimization criteria modeling.…”

Micropart Motion on a Surface Due to Controlled Surface Excitation

“…For a surface with gradient θ, (12) is updated to (10b) by replacing R with R/sinθ in (12). The division by sinθ defines the radius of curvature in terms of its projection on the horizontal plane.…”

“…• Part handling workcells: These workcells, comprising of an array of actuators, are used to translocate the part at the required location. Various types of actuators are used on these workcells including ultrasonic [6], thermobimorph [7], compressed air nozzles [8], air-levitated electrically driven platforms [9], electrostatic attractionrepulsion mechanisms [10], micro-conveyor comprising of discrete microblocks containing microcontroller, sensors and microactuators [11], [12], and a conveyorbased bridge resonator driven by linear traveling waves with the support of 3D printed legs [13]. A concept of controlling the motion of multiple objects on a Chladni plate is presented in [14], however, no model discussing the interaction of microscale forces between particle and surface is presented.…”