Communications in Distributed Intelligent MEMS · •Control –Smooth integration of different technologies ... Work is funded by ANR ANR-06-ROBO-0009-03 22 permanent researchers

Communications in Distributed Intelligent MEMS Julien BOURGEOIS (UFC), Seth Copen Goldstein (CMU/SCS) NaNoNetworking Summit, Barcelona, June 2011

Work is funded by ANR ANR-06-ROBO-0009-03

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Outline

Introduction

The Smart Projects

– Distributed information management

Claytronics

– Electrostatics communications and actuation

Conclusion & perspectives

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Introduction

Microtechnology is now a mature technology

MEMS can be produced by thousands units

Applications:

STMicro LIS331DLH

Accelerometers

What for?

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Introduction



Applications:

TI

Digital Micromirror Device

What for?

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MEMS Classification

MEMS

Sensor MEMS

Single MEMS Distributed

MEMS

Static topology Dynamic topology

Actuator MEMS


MEMS


Sensor/Actuator MEMS


MEMS


DMD Accelerometer

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Flow of information

Distributed MEMS

Sensor MEMS


Actuator MEMS


Sensor/Actuator MEMS


Output only Input only Input/Output

Scalability issue

Distributed Intelligent MEMS

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Introduction



Need for embedded intelligence

New challenges:

– Coordination needs distribution paradigm

• Communication

• Programming

• Control

– Smooth integration of different technologies

Scalability up to millions!

– 1 m3 of intelligent MEMS -> internet on your table

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Some projects

Simple MEMS

Remote intelligence MEMS

Integrated intelligence MEMS

Static Distributed MEMS

Mobile Distributed MEMS

+ External PC

+ FPGA

+ Distributed

intelligence

+ Dynamic

network

topology

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Outline

Introduction

The Smart Projects


Claytronics



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Front-side

Back-side

Smart Surface Project

Objective : Design and realization of a distributed intelligent MEMS to convey and to sort mesometric objects

560 micro-actuators, distributed intelligence

actuator surface: ~1mm²

matrix surface 35 x 35 mm²

Work is funded by ANR ANR-06-ROBO-0009-03

22 permanent researchers

5 labs (French and Japanese)

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Smart Blocks project

A MEMS-based modular and self-reconfigurable surface for fast conveying of fragile objects and medicinal products

20 permanent researchers, 4 labs, 1 company

Work funded by ANR

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Smart Blocks project

Challenges (related to communications):

– Hardware

• CMOS and MEMS integration

• Integrating processing unit, communication network, high voltage circuit in reduced space

– Software

• Co-design between distributed computing and control to manage millions of sensors/actuators.

• Optimization of the physical topology

• Developing software for computer-aided design of very large multi-domain systems

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Outline

Introduction

The Smart Projects


Claytronics



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Objectives

Managing informations from sensors

– Distributed differenciation of objects with:

• Low computing power

• Low memory size

• High level of discretization

Managing communications

– Preserving scalability

– Fault tolerance

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Asynchronous distributed state acquisition

Distributed asynchronous state acquisition description via successive approximation method:

with

and with T(i) the set of times at which sub vector xi is updated

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Integration with control

...

...

Motion controller

Valve i

...

s k u i kon/off sensor i

on/off sensor i+1

...

...

bi k

on/off sensor i+2

bi 1 k

bi 2 k

Part reconstruction and differentiation

...



s k

s k

Motion controller

Motion controller

...

Valve i+1u i 1 k

Valve i+2u i 2 k

...

P2P communication

P2P communication

P2P communication

P2P communication

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Outline

Introduction

The Smart Projects


Claytronics



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www.cs.cmu.edu/~claytronics

Claytronic Apple Real Apple

Claytronics

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CATOM = Claytonic Atom

~meters (2006)

~decimeters (2007)

~centimeters (2007)

~milimeters (2010)

Claytronics

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Shell

Chip

Catom

Catom: a rolling cylinder.

Shell

Chip

Shell: SiO2 film + Aluminum

Chip: HV SOI CMOS die

Catom (1)

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Coupling Electrodes

Two types of electrodes:

1) Coupling electrodes

2) Actuation electrodes

Actuation

Electrodes

Chip has two main functions:

1) Power

2) Actuation

Actuation

Electrodes

Catom (2)

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Outline

Introduction

The Smart Projects


Claytronics



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Electrostatics

One mechanism: four functions

– Adhesion

– Actuation

– Communication

– Power Transfer

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Electrostatics

One mechanism: four functions

– Adhesion

– Actuation

– Communication

– Power Transfer

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0 0 1 1 1 1 0 0

shifts every T = 100ms DATA 1

1

1 0

0

0

1 0

Logic

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shifts every T = 100ms DATA 1

1

1 1

0

0

0 0

0 0 1 0 1 1 0 1

Logic

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1

0

1 1

0

1

0 0

0 0 0 0 1 1 1 1 `

shifts every T = 100ms DATA

Logic

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0

0

1 1

1

1

0 0

0 1 0 0 1 0 1 1 `

shifts every T = 100ms DATA

Logic

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0 1 0 0 0 0 0 0 `

ENABLE shifts every T/32 seconds

Logic

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1 0 0 0 0 0 0 0 `


Logic

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0 0 0 1 0 0 0 0 `


Logic

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0 0 1 0 0 0 0 0 `


Logic

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0 0 0 0 0 1 0 0 `


Logic

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0 0 0 0 1 0 0 0 `


Logic

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0 0 0 0 0 0 0 1 `


Logic

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0 0 0 0 0 0 1 0

shifts every T/32ms ENABLE

Logic

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0 0 1 0 0 0 0 0 `

shifts every T/32 seconds ENABLE

Two pulses in

T/32 seconds

PULSE

1 2

2 1

Logic

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Outline

Introduction

The Smart Projects

Distributed information management

Claytronics

Communications in Claytronics


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Conclusion

Asynchronous communications better scale

– Better tolerance to fault

– Better scalability

Easier for developers if communications are hidden

– Ensemble principle that drives languages developed in Claytronics

Having a real working experimental plate-form is still a challenge

– Cost a lot

– Needs different skills

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Direct (physical) communications are a possibility

Perspectives

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Perspectives

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Perspectives

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Perspectives

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Perspectives

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– But this lead to extremely spread-out network topologies

Perspectives

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Perspectives

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Perspectives

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– But this lead to extremely spread-out network topologies => High delay

Perspectives

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Wireless ranged communication are much promizing

Perspectives

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Perspectives

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Perspectives

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– Less hops are needed

Perspectives

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Perspectives

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– Natural broadcast

Perspectives

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Perspectives

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Perspectives

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• Largely speed-up information dissemination

Perspectives

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• Largely speed-up information dissemination

Perspectives

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Perspectives

Wireless ranged communication are promising

Integration of electromagnetic nano/micro communications device

Challenges still exist, particularly

– Antenna design (millimeter scale designs simply cannot be scaled down to nano size)

– Power optimization

Creation of a research community in distributed intelligent MEMS -> dMEMS workshop

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http://dmems.univ-fcomte.fr

• Topics • Design, implementation and technologies

• Control and distributed algorithms

• Network of distributed sensors and actuators

• Modelisation, simulation, verification, test and validation

• Important dates: – Deadline for paper submission: October 20th, 2011

– Acceptance notification: November 25th, 2011

– Camera ready paper due: December 9th, 2011ion

• Proceedings published by IEEE CPS, special issue of Mechatronics (Elsevier)

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Acknowledgments

All Claytronics team, but in particular:

– Emre Karagozler and David Ricketts, CMU

All Smart Surface and Smart Block teams, but in particular

– Didier El Baz, Vincent Boyer, LAAS/CNRS

– Nadine Piat, Guillaume Laurent, FEMTO-ST

– Dominique Dhoutaut, UFC

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Claytronics example CMU/INTEL/UFC

Documents

Communications in Distributed Intelligent MEMS · •Control –Smooth integration of different technologies ... Work is funded by ANR ANR-06-ROBO-0009-03 22 permanent researchers