Parallel Self-Assembly and Sorting of Polyominoes under Uniform Control Inputs

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dc.contributor.advisorBecker, Aaron T.
dc.contributor.committeeMemberRuchhoeft, Paul
dc.contributor.committeeMemberFaghih, Rose T.
dc.creatorManzoor, Sheryl
dc.date.accessioned2019-09-10T16:15:41Z
dc.date.createdDecember 2018
dc.date.issued2018-12
dc.date.submittedDecember 2018
dc.date.updated2019-09-10T16:15:41Z
dc.description.abstractAutomated assembly at micro and nano-scale is essential for manufacturing smaller and inexpensive products at faster rates. Traditional micro-assembly and manipulation techniques involve micro-grippers and manipulators that have limited degrees of freedom when compared to their macro-scale counterparts. A major disadvantage of these techniques is that only one part can be manufactured at a time. Thus, it would be a significant progress if control algorithms are devised that can automatically assemble a huge quantity of small scale components. We present a novel approach towards micro-assembly which employs a large swarm of micro-particles, controlled by a global signal to assemble arbitrary 2D structures. The algorithm automatically generates a micro-factory layout for a given structure, and when this layout is actuated, it manufactures the required number of copies of the shape. We have analyzed the size and time complexity of the micro-factories and present several simulation and hardware results for the assembly task. Since the assembly process is performed in open-loop, the assembled parts could have errors, and in order to detect these errors, we sort them based on their shape.
dc.description.departmentElectrical and Computer Engineering, Department of
dc.format.digitalOriginborn digital
dc.format.mimetypeapplication/pdf
dc.identifier.urihttps://hdl.handle.net/10657/4438
dc.language.isoeng
dc.rightsThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).
dc.subjectMicroassembly
dc.subjectRobotics
dc.titleParallel Self-Assembly and Sorting of Polyominoes under Uniform Control Inputs
dc.type.dcmiText
dc.type.genreThesis
local.embargo.lift2020-12-01
local.embargo.terms2020-12-01
thesis.degree.collegeCullen College of Engineering
thesis.degree.departmentElectrical and Computer Engineering, Department of
thesis.degree.disciplineElectrical Engineering
thesis.degree.grantorUniversity of Houston
thesis.degree.levelMasters
thesis.degree.nameMaster of Science in Electrical Engineering

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