FPGA-Based Decentralized Control of Arrayed MEMS for Microrobotic Application |
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Authors: | Chapuis Y-A Lingfei Zhou Fukuta Y Mita Y Fujita H |
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Affiliation: | LIMMS/CNRS-IIS (UMI 2820), Tokyo; |
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Abstract: | In this paper, the authors have developed and implemented a decentralized decision-making strategy using field-programmable gate array (FPGA) technology as a prototype for an integrated controller of a microelectromechanical systems (MEMS) array for air-flow planar micromanipulation. The MEMS array was proposed to be integrated in a hybrid multichip module containing the FPGA-based controller. Algorithms and architectures, used for the decentralized control implementation and the hardware resource optimization, are described. A charge-coupled device camera was used to make each MEMS like an autonomous system when the distributed MEMS chip was tested. Finally, under air-flow condition, the FPGA-based decentralized control system successfully performed an object manipulation. |
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