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

Duke University, Durham NC

Investigators

Abstract

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.