Kristofer S.J. Pister (Advisor)

Research Advised by Professor Kristofer S.J. Pister

BPN950: Self-Righting for Micro Robots

Alexander Alvara
Hani Gomez

In developing micro-robots for exploration in non-uniform terrain, it is often the case that robots fall over. This work seeks to provide a solution in the self-righting of autonomous micro- robots to overturn a 1cc, 1 gram cube microrobot with regular octahedral symmetry that has fallen on either of its four sides and overturning said microrobot once upside down. Here, a slider 3- bar linkage is used in conjunction with MEMS inchworm motors, capable of producing approx 15uN force output, to sweep the lifting arm and push the cube microrobot to be...

BPN916: Mesh-Networked Micro-Air-Vehicle Systems

Brian G. Kilberg

The goal of this project is to develop mesh-networked multi-agent robotic systems that can improve connectivity in network-adverse conditions. Mesh-networking enables longer communication range for multi- MAV systems with limited radio power and provides scalable peer-to-peer communications. This system is based on OpenWSN, which is an open-source implementation of the 6TiSCH networking protocol, whose underlying technology has been successful in mesh networks for industrial process automation. These successful mesh- networking technologies were originally intended...

BPN903: Applications of Wireless Sensor Networks

Brian Kilberg
Craig B. Schindler
Felipe Campos

As the size, cost, power, and communication latency of wireless sensor nodes continues to decrease, wireless sensor networks have the potential to be used in a variety of new and interesting ways. In this project we aim to demonstrate applications and use cases that are possible with small, low power, and low latency networks; for example, collecting high-resolution personal telemetry via products with embedded sensor networks, networked autonomous robotic systems, smart buildings, and industrial process control. While this project utilizes custom 15mmx15mm wireless sensor...

Xenon Difluoride Etching of Silicon for MEMS

Floy I-Jung Chang
Kristofer S.J. Pister

Xenon difluoride (XeF2) is a dry, isotropic gas-phase etchant which gently etches silicon at room temperature. Silicon dioxide and photoresist can be used as mask materials for XeF2 etching. XeF2 is also extremely selective to many metals, including...

SPICE Analysis of a Micro Gyro and Mixed Analog-Digital Sensor Interface Circuit

Amit Burstein
Chand R. Viswanathan
Kristofer S.J. Pister
William H. Kaiser
MEMS (Micro Electro Mechanical Systems) is a fast growing field both in the commercial companies and in the universities. Different design tools such as VEM and MAGIC are available for the design of both surface and bulk micromachining...

Serial Assembly of Microstructures

Subramaniam Venkatraman
Kristofer S.J. Pister
Carlo H. Séquin

This thesis presents serial pick and place assembly of microstructures, fabricated in a simple single mask SOI process, as an approach for the manufacture of complicated microstructures. Two techniques for pick and place microassembly and design of microparts which can be used with either of these two assembly approaches are presented. The techniques are designed to be simple and robust so that they can be extended to an automated assembly-...

RF Ranging for Location Awareness

Steven Michael Lanzisera
Kristofer S.J. Pister
Jan M. Rabaey
Paul K. Wright
Wireless sensor networks provide an opportunity to improve performance in areas ranging from energy efficiency to industrial processes to scientific research. Many applications require awareness of sensor location, but autonomously determining device location has proven to be challenging. This localization problem can be divided into two parts: measuring relationships between nodes, and then using these relationships to estimate location. Most work on t...

Resonant Circuits for MEMS Interfaces

Baris Cagdaser
Bernhard E. Boser
Kristofer S.J. Pister
Liwei Lin
Roger T. Howe
This work describes the use of resonant circuits for electrostatic actuation of MEMS devices with low voltage drive electronics. Resonant drive also offers a solution for position sensing and generates a sense signal without the need for a separate sense capacitor. Moreover, an inherent force feedback mechanism limits the drive voltage as the drive capacitor becomes larger and stabilizes parallel-plate actuators beyond the pull-in point of the...

Reliability and Acknowledgements in Low-Power Wireless Sensor Networks

George William Shaw
Kristofer S.J. Pister
Alberto L. Sangiovanni-Vincentelli

All wireless sensor networks with greater than 0% packet delivery rate (PDR) can be made 100% reliable—when given unbounded time to achieve successful packet delivery. Real systems, however, don't have unbounded time or resources. Reliability is the probability that a packet will be successfully delivered within the required time bound. The delivery reliability requirement and time bound are determined from the application-dependent delivery MTBF at which...

Poly-Crystalline Silicon Carbide Passivated Capacitive MEMS Strain Gauge for Harsh Environments

Babak Jamshidi
Albert P. Pisano
Liwei Lin
Kristofer S.J. Pister
This dissertation describes the design and fabrication of a high-resolution capacitive sensor encapsulated in poly-crystalline silicon carbide. This sensor can continuously measure the strain in the substrate under aggressive environments such as extreme ambient temperature, corrosive media and high-g shocks. This strain sensor has a sub-millimeter gauge length capable of precise assessment of strain fields. The device...