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Automated real-time control of fluidic self-assembly of microparticles

par Mastrangeli, Massimo ;Schill, Felix;Goldowsky, Jonas;Knapp, Helmut;Brugger, Juergen;Martinoli, Alcherio
Référence ICRA 2014(May 31 - June 7, 2014: Hong Kong), 2014 IEEE International Conference on Robotics and Automation, IEEE, page (5860-5865)
Publication Publié, 2014

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Résumé :

Self-assembly is a key coordination mechanism for distributed systems of intelligent agents and a powerful bottom-up technology for micro/nanofabrication. The controlled self-assembly and dynamic reconfiguration of large ensembles of microscopic particles can effectively bridge these domains to construct innovative systems. In this perspective, we present SelfSys, a novel platform for the automated control of the fluidic self-assembly of sets of polymeric microparticles. SelfSys is built around a water-filled microfluidic chamber whereby self-assembly is driven by the agitation modes induced by a coupled ultrasonic actuator. Microparticle dynamics is imaged, tracked and analyzed in real-time by an integrated software framework which in turn algorithmically controls the actuation modes of the microchamber. The closed control loop is fully automated and can direct the stochastic assembly of microparticle clusters of preset dimension. Control issues specific to SelfSys implementation are discussed, and its potential applications presented. The SelfSys platform embodies at microscale the automatedself-assembly control paradigm we first demonstrated in an earlier platform