Distributed control architecture for smart surfaces.

Kahina Boutoustous-Bennouas (1) , Guillaume J. Laurent (1) , Eugen Dedu (1) , Laëtitia Matignon (1) , Julien Bourgeois (1) , Nadine Le Fort-Piat (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

This paper presents a distributed control architecture to perform part recognition and closed-loop control of a distributed manipulation device. This architecture is based on decentralized cells able to communicate with their four neighbors thanks to peer-to-peer links. Various original algorithms are proposed to reconstruct, recognize and convey the object levitating on a new contactless distributed manipulation device. Experimental results show that each algorithm does a good job for itself and that all the algorithms together succeed in sorting and conveying the objects to their final destination. In the future, this architecture may be used to control MEMS-arrayed manipulation surfaces in order to develop Smart Surfaces, for conveying, fine positioning and sorting of very small parts for micro-systems assembly lines.

Domaines: Micro et nanotechnologies/Microélectronique

Kahina Boutoustous-Bennouas, Guillaume J. Laurent, Eugen Dedu, Laëtitia Matignon, Julien Bourgeois, et al.. Distributed control architecture for smart surfaces.. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10., Oct 2010, Taipei, Taiwan. pp.2018-2024. ⟨hal-00544602⟩