Parallax-Docking and Reconfiguration of Field Programmable Robot Arrays Using an Intermittently-Powered One-Hot Controller

Field programmable robot arrays (FPRAs) are micro-robots with onboard reconfigurable logic. We assume MEMS-based micro-robots like those developed by Donald et al. as a foundation to build FPRAs. We present architecture of the FPRA which has the following components: MEMS scratch-drive-actuator (SDA...

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Bibliographic Details
Main Authors: Arnold, M.G., Cho, J.H.
Format: Conference Proceeding
Language:English
Subjects:
Logic arrays
Medical robotics
MEMS
Micromechanical devices
one-hot
Orbital robotics
Parallel robots
Programmable logic arrays
Reconfigurable logic
reconfigurable micro-robot
Robot sensing systems
Robotic assembly
SDA
Sensor arrays
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Description
Summary:Field programmable robot arrays (FPRAs) are micro-robots with onboard reconfigurable logic. We assume MEMS-based micro-robots like those developed by Donald et al. as a foundation to build FPRAs. We present architecture of the FPRA which has the following components: MEMS scratch-drive-actuator (SDA) micro-robot, LEDs with matching photo sensors, electrical docking ports and onboard programmable logic array of a new kind called field programmable one-hot arrays (FPOHAs). SDAs need an intermittent power supply. We present a hardware solution to powering the FPOHA (from the intermittent supply to the FPRA) and a parallax algorithm which is used to achieve docking of robot arrays, after which the FPOHA may be retasked.
ISSN:2325-6532
2640-0472
DOI:10.1109/ReConFig.2009.36