ENABLING HARDWARE TECHNOLOGIES FOR AUTONOMY IN TINY ROBOTS: CONTROL, INTEGRATION, ACTUATION

The last two decades have seen many exciting examples of tiny robots from a few cm3 to less than one cm3. Although individually limited, a large group of these robots has the potential to work cooperatively and accomplish complex tasks. Two examples from nature that exhibit this type of cooperation are ant and bee colonies. They have the potential to assist in applications like search and rescue, military scouting, infrastructure and equipment monitoring, nano-manufacture, and possibly medicine. Most of these applications require the high level of autonomy that has been demonstrated by large robotic platforms, such as the iRobot and Honda ASIMO. However, when robot size shrinks down, current approaches to achieve the necessary functions are no longer valid. This work focused on challenges associated with the electronics and fabrication. We addressed three major technical hurdles inherent to current approaches: 1) difficulty of compact integration; 2) need for real-time and power-efficient computations; 3) unavailability of commercial tiny actuators and motion mechanisms. The aim of this work was to provide enabling hardware technologies to achieve autonomy in tiny robots. We proposed a decentralized application-specific integrated circuit (ASIC) where each component is responsible for its own operation and autonomy to the greatest extent possible. The ASIC consists of electronics modules for the fundamental functions required to fulfill the desired autonomy: actuation, control, power supply, and sensing. The actuators and mechanisms could potentially be post-fabricated on the ASIC directly. This design makes for a modular architecture. The following components were shown to work in physical implementations or simulations: 1) a tunable motion controller for ultralow frequency actuation; 2) a nonvolatile memory and programming circuit to achieve automatic and one-time programming; 3) a high-voltage circuit with the highest reported breakdown voltage in standard 0.5 μm CMOS; 4) thermal actuators fabricated using CMOS compatible process; 5) a low-power mixed-signal computational architecture for robotic dynamics simulator; 6) a frequency-boost technique to achieve low jitter in ring oscillators. These contributions will be generally enabling for other systems with strict size and power constraints such as wireless sensor nodes.

Comparison of Hydrologic and Hydraulic Characteristics of the Anacostia River to Non-Urban Coastal Streams

Streams in urban areas often utilize channelization and other bank erosion control measures to improve flood conveyance, reduce channel migration, and overbank flooding. This leads to reductions in evapotranspiration and sediment storage on floodplains. The purpose of this study is to quantify the evapotranspiration and sediment transport capacity in the Anacostia Watershed, a large Coastal Plain urban watershed, and to compare these processes to a similar sized non-urban watershed. Times series data of hydrologic and hydraulic changes in the Anacostia, as urbanization progressed between 1939-2014, were also analyzed. The data indicates lower values of warm season runoff in the non-urban stream, suggesting a shift from evapotranspiration to runoff in urban streams. Channelization in the Anacostia also increased flow velocities and decreased high flow width. The high velocities associated with channelization and the removal of floodplain storage sites allows for the continued downstream transport of sediment despite stream bank stabilization.