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<title>Distributed Manipulation and Micro-Electro Mechanical Systems (MEMS)</title>

<h2>Distributed Manipulation and Micro-Electro Mechanical Systems (MEMS)</h2>





<h2>Description  </h2>

Recently, graduate student Jim Jennings, research associate <!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><a
href="http://simlab.cs.cornell.edu/people/daniela.rus.html"> Daniela
Rus,</a> graduate student <!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><a
href="http://www.cs.cornell.edu/Info/People/rbrown/rbrown.html">
Russell Brown</a>,							

 <!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><a
href="ftp://ftp.cs.cornell.edu/pub/brd/brd.html">
Professor Bruce Donald</a>, 

 and lab alumnus <!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><a
href="http://www-swiss.ai.mit.edu/~jar/jar.html"> Jonathan Rees</a>
(now at MIT), developed a <!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><a href="#scheme"> team of autonomous
mobile robots</a> that can perform sophisticated <!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><a
href="#distributed-manipulation"> distributed manipulation tasks</a>
(such as <!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><a href="#iros95"> moving furniture</a>).  The robots run
robust SPMD protocols that are completely asynchronous and require no
communication. Grad student <!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><a
href="http://www.cs.cornell.edu/Info/People/karl/home.html"> Karl
B&ouml;hringer</a>,  <!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><a
href="ftp://ftp.cs.cornell.edu/pub/brd/brd.html">
Professor Bruce Donald</a>, 
 and EE Professor Noel MacDonald, are building a <!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><a href="#mems">
massively parallel array of microactuators</a> in the Cornell National
Nanofabrication Laboratory. <!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><a
href="http://www.cs.cornell.edu/Info/People/karl/Cinema/"> The array
is a SCREAM chip containing over 11,000 actuators in 1 square
centemeter,</a> and can orient small parts without sensory
feedback. Our microfabricated actuator arrays could be used to
construct programmable parts-feeders (at any scale), or to build
self-propelled IC's (walking VLSI chips.)

<h2> Demos </h2>

<!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><a href="http://www.cs.cornell.edu/Info/People/karl/Cinema/">
Massively parallel micro-fabricated actuator arrays.</a>

<h2>Recent Publications</h2>


<h3> New papers: </h3>

<li>
K.-F. B&ouml;hringer, B. R. Donald, and N. C. MacDonald, 

<!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><a href="ftp://flamingo.stanford.edu/pub/brd/MEMS96-abstract.ps.Z">
Single-Crystal Silicon Actuator Arrays for Micro Manipulation Tasks</a>,
<cite>IEEE Workshop on Micro Electro Mechanical Systems (MEMS)</cite>,
San Diego, California (February 1996).  (Accepted; to appear).

<li> 

K.-F. B&ouml;hringer, B. R. Donald, and N. C. MacDonald, 

<!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><a href="ftp://flamingo.stanford.edu/pub/brd/ICRA96-1.ps.Z">
Classification and Lower Bounds for MEMS Arrays and Vibratory Parts
Feeders : What Programmable Vector Fields Can (and Cannot) Do - Part
I</a>, <cite>IEEE International Conference on Robotics and Automation
(ICRA)</cite>, Minneapolis, Minnesota (April 1996). (Accepted; to
appear).


<li> 

 K.-F. B&ouml;hringer, B. R. Donald, and N. C. MacDonald, 

<!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><a href="ftp://flamingo.stanford.edu/pub/brd/ICRA96-2.ps.Z"> New and
Improved Manipulation Algorithms for MEMS Arrays and Vibratory Parts
Feeders: What Programmable Vector Fields Can (and Cannot) Do - Part
II</a>, <cite>IEEE International Conference on Robotics and Automation
(ICRA)</cite= >, Minneapolis, Minnesota (April 1996). (Accepted, To
appear). 

<h3> Published papers: </h3>

<a name="iser95">
<!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><img align=top
 src="ftp://ftp.cs.cornell.edu/pub/brd/images/BruceJimDaniela3-small.gif"></a>
<!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/karl-small.gif">
<!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/rbrown-small.gif"></a>
<!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><a
href="ftp://flamingo.stanford.edu/pub/brd/iser-95.ps.gz">
Distributed Robotic Manipulation: Experiments in
Minimalism</a>, in
<em> International Symposium on Experimental Robotics, (ISER)</em>
Stanford, CA (1995).
<p>

<a name="iros95">
<!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><img align=top
 src="ftp://ftp.cs.cornell.edu/pub/brd/images/BruceJimDaniela3-small.gif"></a>
<!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><a
href="ftp://flamingo.stanford.edu/pub/brd/iros-95.ps.gz">
Moving Furniture with Teams of Automonous Mobile Robots</a>, (with J.
Jennings and <!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><a
href="http://simlab.cs.cornell.edu/people/daniela.rus.html"> D.
Rus</a>) in
<em> Proc.~IEEE/Robotics Society of
Japan International Workshop on Intelligent Robots and Systems, (IROS)</em>
Pittsburgh, PA (1995).
<p>


<a name="mems"> <!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/karl-small.gif"></a> <!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><a
href="ftp://ftp.cs.cornell.edu/pub/brd/mems.ps.Z"> Sensorless
Manipulation Using Massively Parallel Micro-fabricated Actuator
Arrays</a> (with <!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><a
href="http://www.cs.cornell.edu/Info/People/karl/home.html">
K.-F. B&ouml;hringer,</a> R.  Mihailovich, and Noel C.  MacDonald),
<em> Proc. IEEE International Conference on Robotics and
Automation</em>, San Diego, CA (May, 1994). <br> A <!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><a
href="http://www.cs.cornell.edu/Info/People/karl/Cinema/">
demo and more detailed explanation.</a>

<p>

<a name="scheme"> .</a>
<!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><a
href="ftp://ftp.cs.cornell.edu/pub/brd/scheme-mobile-robots.ps.Z">
 Program Mobile Robots in Scheme</a>(with <!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><a
href="http://www-swiss.ai.mit.edu/~jar/jar.html"> J. Rees</a>) <em>

Proc. IEEE International Conference on Robotics and Automation</em>
Nice, France (May, 1992), pp.  2681-2688.
<p>


<a name="distributed-manipulation">
<!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><img align=top src="ftp://ftp.cs.cornell.edu/pub/brd/images/BruceJimDaniela3-small.gif"></a>
<!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><a
href="ftp://ftp.cs.cornell.edu/pub/brd/distributed-manipulation.ps.Z">