Algorithms for Distributed Sensor Networks

James D. McLurkin
Kristofer S. J. Pister

A distributed sensor network is many (100-10000) autonomous sensor nodes spread out over a large area. Each node is equipped with a processor, mission-specific sensors, and short-range communications. Local interactions between sensor nodes allow them to reach global conclusions from their data. This work develops algorithms that allow:

The group to establish robust spatial patterns of messages The group to develop a communications network by dividing tasks among themselves Each mote to determine its position in physical space based on their location in the network topology Each mote...

A System Supporting Tiny Networked Sensors

Jason Hill
David Culler
Kristofer Pister

As the post-PC era emerges, several new niches of computer system design are taking shape with characteristics that are quite different from traditional desktop and server regimes. One of the most interesting of these new design regimes is networked sensors. The networked sensor is enabled, in part, by "Moore's Law" pushing computing and storage into a smaller, cheaper, lower-power unit. However, three other trends are equally important: complete systems on a chip, integrated low-power communication, and integrated low-power devices that interact with the physical world. The combination of...

Continuous Microfluidic Mixing Using Pulsatile Micropumps

Ajay Anil Deshmukh
Dorian Liepmann
Albert P. Pisano
Luke P. Lee
Recent years have seen an explosion of interest in the field of microfluidics. Many possible applications exist for low cost, portable fluidic systems; examples include drug delivery devices, chemical reactors, and DNA sequencers. In many of these systems, the thorough mixing of small amounts of two or more fluids will be required. While it may at first seem that diffusion will be sufficient to quickly mix fluids in a sub-millimeter scale channel, this is often not the case. To meet this need, a new mixing process for...

Adversarial Swarm Defense with Decentralized Swarms

Jason Zhou
Kristofer S.J. Pister

The rapid proliferation of unmanned aerial vehicles (UAVs) in both commercial and consumer applications in recent years raises serious concerns of public security, as the versatility of UAVs allow the platform to be easily adapted for malicious activities by adversarial actors. While interdiction methods exist, they are either indiscriminate or are unable to disable a large swarm of drones. Recent work in wireless communications, microelectromechanical systems, fabrication, and multi-agent reinforcement learning make UAV-based counter-UAV systems increasingly feasible - that is, defense...

Analyzing the Prediction Accuracy of Trajectory-Based Models with High-Dimensional Control Policies for Long-term Planning in MBRL

Howard Zhang
Kristofer S.J. Pister

Learning effective policies with model-based reinforcement learning is highly dependent on the accuracy of the dynamics model. Recently, a new parametrization called the trajectory-based model was introduced, which takes in an initial state, a future time index, and control policy parameters, and returns the state at that future time index [3]. This new method has demonstrated improved prediction accuracy in long horizons, increased sample efficiency, and ability to predict the task reward. However, this model has limited transferability to MBRL due to the limited expressivity of its...

Small Autonomous Robot Actuator (SARA): A Solar-powered Wireless MEMS Gripper

Alex Moreno
Kristofer S.J. Pister

Solar-powered actuation of a 15 mN electrostatic MEMS gripper was demonstrated while wirelessly triggered by IEEE 802.15.4 RF signals. The solar-powered gripper was shown to actuate at a rate of 640 um/s. The complete system is composed of three capacitors and three chips: MEMS gripper, microprocessor/crystal-free radio, and solar cell array/high voltage buffer. Control signals for the electrostatic inchworm motors originate from the 3x2x0.3 mm3 chip with an ARM Cortex-M0 microprocessor and are passed through 119V high voltage buffers. Power for all components, including the crystal-free...

Redesigning Power Systems on a Single Chip Micro Mote with Berkeley Analog Generator Low Dropout Series Regulator Generation

Jackson Paddock
Kristofer S.J. Pister

The Single Chip Micro Mote (SCμM) is a crystal-free radio chip with an on-board CPU developed at UC Berkeley in the Swarm Lab. This chip was designed to function as the brain of an untethered microrobot with no external components other than a power source required. SCμM also features an optical programmer so that no cables are even needed to program it. With its size and functionality, SCμM has the potential to allow a swarm of microrobots to communicate and perform complex tasks in tandem.

Like every other circuit, SCμM needs power to operate, and one of the most common power...

Laser Chirp Linearization and Phase Noise Compensation for Frequency-modulated Continuous-wave LiDAR

Xiaosheng Zhang

Microrobots can someday be used as a tool to further expand investigative capabilities– for example, archeologists could use them to research buried cities such as the one in Tiwanaku, Bolivia, or emergency response workers could send robots ahead in search-and- rescue operations. The anatomy of a microrobot can be broken down into its body, brain and power. Typically, each subsystem is fabricated using a different process, creating the need for multi-chip assembly. Microrobots in the literature are often assembled post-process using methods such as wire bonding, silver epoxy, and flip-...

Pre-Publication Titles

Pre-Publication Titles Currently Available to BSAC Industrial Members, Only

PUBLICATION: b2021p0001

First Author: Jihee Lee
Contributing Author(s): Kyoung-Rog Lee, Benjamin E. Eovino, Jeong Hoan Park, Luna Yue Liang, Liwei Lin, Hoi-Jun Yoo, and Jerald Yoo
Co-Director: Lin, Liwei
Publication Date: 3/31/2021
Publication Type: Journal
Publisher Details: IEEE Journal of Solid State Circuits
Publication URL: ...

Monolithic Wireless Transceiver Design

Filip Maksimovic
Kristofer S.J. Pister

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 is to address the hurdles associated with operating without these...