Kristofer S.J. Pister (Advisor)

Pico air vehicles (PAVs), sub-5cm aerial vehicles, are becoming more feasible due to advances in wireless mesh networks, millimeter-scale propulsion, battery technology, and MEMS control surfaces. Our goal is to develop an aerodynamic MEMS control surface that could be used in PAV applications. This device will use electrostatic inchworm motors (capable of outputting 15mN) to extend an airfoil through 10 degrees. Using information from previous work that demonstrated roll control, we expect to extend automated flight control to pitch and yaw. We predict and output torque of 2.3 uNm,...

We are developing a new MEMS bonding process in which we use extremely carefully controlled resistive heating to make a solder bond with negligible substrate temperature rise and tighter temperature control than in laser bonding; we do this by using the temperature change of the heater resistivity as a temperature sensor for closed-loop control. Previously, we analyzed transient heat flow and showed initial progress toward heater control. Now, we have completed our theoretical analysis with a description of temperature fluctuations due to local inhomogeneities on the chip and how to...

Model-based reinforcement learning (MBRL) has often been touted for its potential to improve on the sample-efficiency, generalization, and safety of existing reinforcement learning algorithms. These model-based algorithms constrain the policy optimization during trial-and-error learning to include a structured representation of the environment dynamics. To date, the posited benefits have largely been left as directions for future work. This thesis attempts to illustrate the central mechanism in MBRL: how a learned dynamics model interacts with decision making. A better understanding of...

Despite the popularity and widespread demand for miniaturized electronic devices, limited advances have been made to design energy storage mechanisms that can satisfy their power and size requirements. We have developed a fabrication process to produce miniature Li-ion batteries by combining the stencil printing process to deposit thick high capacity electrodes and an adhesive based sealing method for battery packaging, with active areas as small as 1 mm2. The battery consists of printed anode and cathode layers based on graphite and lithium cobalt oxide (LCO) respectively. These...