Kristofer S.J. Pister (Advisor)

Research Advised by Professor Kristofer S.J. Pister

Monolithic Wireless Transceiver Design

Filip Maksimovic
Kristofer S.J. Pister
Ali M. Niknejad
Stephen D. Glaser

Recently, there has been an increasing push to make everything wireless. In contrast to high-performance cellular communication, where the demand for enormous quantities of data is skyrocketing, these small wireless sensor and actuator nodes require low power, low cost, and a high degree of system integration. A typical CMOS system-on-chip requires a number of off-chip components for proper operation, namely, a crystal oscillator to act as an accurate frequency reference, and an antenna. The primary goal of this thesis...

Mechanical Energy Storage for Self-Destructing Motes and Jumping Microrobots

Joseph Greenspun
Kristofer S.J. Pister
Vivek Subramanian
Liwei Lin
Mechanical energy storage has been studied to enable a self-destructing mote and ajumping microrobot. Just as chemical energy stored in batteries can be used for a widearray of devices, so too can mechanical energy stored in beams. In this work various energystorage elements are designed, fabricated, and tested to create these MEMS systems. As privacy and data security become increasingly important, new means of keeping that data safe must be developed. A MEMS system has been created to allow a wirelessly enabled...

Incremental Network Programming for Wireless Sensors

Jaein Jeong
Kristofer S.J. Pister
David E. Culler

One problem of the current network programming implementation of TinyOS is that it takes much longer than the traditional in-system programming due to the slow radio connection. We extended the network programming implementation of TinyOS 1.1 release so that it can reduce the programming time using the program code history. The host program generates the difference of the two program images using the Rsync algorithm and it sends the difference to the sensor nodes as script messages. The sense nodes rebuild the program image based on the previous program version and the recived script...

Integrated Surface Micromachined Frame Microgyroscopes

Moorthi Palaniapan
Roger T. Howe
Albert P. Pisano
Roberto Horowitz
In this work, two different integrated surface-micromachined z-axis vibratory rate gyroscopes are evaluated. Frame microgyroscopes using 'Inside Sense Outside Drive' suspension design were proposed and compared with 'Inside Drive Outside Sense' design. In the 'Inside Sense Outside Drive' frame design, the outer mass (...

Design of Moderate Resolution High Speed Pipeline ADCs in Fine Line Technologies

Dimitrios Katsis
Bernhard E. Boser
Kristofer S.J. Pister

In this work the issues involved in designing pipeline Analog to Digital Converters in fine line technologies are discussed. In particular, we focus on the design of the interstage amplifier within the pipeline. We compare open loop voltage and current mode approaches to amplifier design and suggest solutions to common current mode design problems. Further, we propose...

Design and Analysis of Closed-loop Controlled Parallel-Plate Electrostatic MicroGrippers

Patrick Breckow Chu
Kristofer S.J. Pister

This work describes the design and analysis of a class of sub-millimeter scale grippers. These electrostatically-driven devices are fabricated from polysilicon using an IC-based surface micromachining process and have been designed to handle objects...

CMOS Based Chemical Sensors

Dharmesh Bhalchandra Jani
Kristofer S.J. Pister
Detection of chemical species using solid state sensors is of great practical importance. The niche for chemical microsensors exists in places where continuous measurement of a chemical concentration is required from a number of locations. Microsensors...

CotsBots: An Off-the-Shelf Platform for Distributed Robotics

Sarah Bergbreiter
Kristofer S.J. Pister
David Culler

This thesis presents the CotsBots – inexpensive and modular robots built entirely from commercial off-the-shelf components. These robots provide a convenient platform on which to investigate algorithms, cooperation and distributed sensing in large (greater than 50) robot networks. Each robot is small (13cm x 6.5cm base) and costs approximately $200 in quantity. Each is equipped with on-board processing, radio communication, and a base platform...

Crystal-Free Wireless Communication with Relaxation Oscillators and its Applications

David C. Burnett
Kristofer S.J. Pister
Ali M. Niknejad
Lance J. Kriegsfeld

For the last decade, the size of complete 2.4GHz wireless modules containing everythingbut power have stagnated at ~1cm x 1cm. This is despite continued advances in semiconductorprocesses due to components needed by the core communication IC. Breaking this size barrier (which also sets a power and cost barrier) by eliminating all off-chip components is the goal of the Single-Chip Mote project, of which this dissertation is a part. The major componentsto be eliminated are antenna, battery, and crystal...

Articulated Mechanisms and Electrostatic Actuators for Autonomous Microrobots

Richard Yeh
Kristofer S.J. Pister
Roger T. Howe
Dorian Liepmann

Enabled by advances in both integrated circuit technology and micro electromechanical systems (MEMS), the continuing miniaturization and integration of electronics, sensors, and actuators and mechanisms will make it feasible to create insect-sized autonomous microrobots. We propose to create a class of autonomous crawling microrobots the size on the order f 1cm^3 and equipped with a power source, low-power CMOS controller, sensors, wireless communications devices and motorized articulated legs. The work presented here demonstrates how articulated insect legs could be created from rigid...