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Distributed control architecture for smart surfaces

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6 Author(s)
K. Boutoustous ; Laboratoire d'Informatique de l'Université de Franche-Comté, Montbéliard, France ; G. J. Laurent ; E. Dedu ; L. Matignon
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This paper presents a distributed control architecture to perform part recognition and closed-loop control of a distributed manipulation device. This architecture is based on decentralized cells able to communicate with their four neighbors thanks to peer-to-peer links. Various original algorithms are proposed to reconstruct, recognize and convey the object levitating on a new contactless distributed manipulation device. Experimental results show that each algorithm does a good job for itself and that all the algorithms together succeed in sorting and conveying the objects to their final destination. In the future, this architecture may be used to control MEMS-arrayed manipulation surfaces in order to develop Smart Surfaces, for conveying, fine positioning and sorting of very small parts for micro-systems assembly lines.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010