|
Circuits and Systems I: Regular Papers, IEEE Transactions on
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts
59(7):1557–1566
Jul 1990
@article{kgr12a,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Ricketts, David S.},
journal = {Circuits and Systems I: Regular Papers, IEEE Transactions
on},
title = {Analysis and Modeling of Capacitive Power Transfer in
Microsystems},
year = {2012},
month = {Jul},
volume = {59},
number = {7},
pages = {1557--1566},
keywords = {Actuation, Adhesion,Power},
doi = {10.1109/TCSI.2011.2177011},
issn = {1549-8328},
}
Related Papers
Adhesion |
|
Analysis and Modeling of Capacitive Power Transfer in Microsystems | bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts.
Circuits and Systems I: Regular Papers, IEEE Transactions on,
59(7):1557–1566, Jul 1990.
|
| @article{kgr12a,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Ricketts, David S.},
journal = {Circuits and Systems I: Regular Papers, IEEE Transactions
on},
title = {Analysis and Modeling of Capacitive Power Transfer in
Microsystems},
year = {2012},
month = {Jul},
volume = {59},
number = {7},
pages = {1557--1566},
keywords = {Actuation, Adhesion,Power},
doi = {10.1109/TCSI.2011.2177011},
issn = {1549-8328},
}
|
|
Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm Diameter Robot | pdf bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and James Robert Reid.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '09),
Oct 1990.
See karagozler-iros09.
|
| @inproceedings{karagozler-iros09,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Reid, James Robert},
title = {Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm
Diameter Robot},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '09})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
see = {karagozler-iros09},
year = {2009},
month = {Oct},
abstract = {As the size of the modules in a self-reconfiguring
modular robotic system shrinks and the number of modules
increases, the flexibility of the system as a whole increases. In
this paper, we describe the manufacturing methods and mechanisms
for a 1 millimeter diameter module which can be manufactured en
masse. The module is the first step towards realizing the basic
unit of claytronics, a modular robotic system designed to scale
to millions of units.},
keywords = {Actuation, Adhesion, Robot Fabrication},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros09.pdf},
}
|
|
A Modular Robotic System Using Magnetic Force Effectors | pdf bib | |
Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
Oct 1990.
|
| @inproceedings{bkirby-iros07,
author = {Kirby, Brian and Aksak, Burak and Goldstein, Seth Copen
and Hoburg, James F. and Mowry, Todd C. and Pillai, Padmanabhan},
title = {A Modular Robotic System Using Magnetic Force Effectors},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
year = {2007},
month = {Oct},
abstract = {One of the primary impediments to building ensembles
with many modular robots is the complexity and number of
mechanical mechanisms used to construct the individual modules.
As part of the Claytronics project---which aims to build very
large ensembles of modular robots---we investigate how to
simplify each module by eliminating moving parts and reducing the
number of mechanical mechanisms on each robot by using
force-at-a-distance actuators. Additionally, we are also
investigating the feasibility of using these unary actuators to
improve docking performance, implement intermodule adhesion,
power transfer, communication, and sensing.},
keywords = {Claytronics, Actuation, Adhesion},
url = {http://www.cs.cmu.edu/~claytronics/papers/bkirby-iros07.pdf},
}
|
|
Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots | pdf bib | |
Mustafa Emre Karagozler, Jason D. Campbell, Gary K. Fedder, Seth Copen Goldstein, Michael Philetus Weller, and Byung W. Yoon.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
Oct 1990.
|
| @inproceedings{karagozler-iros07,
author = {Karagozler, Mustafa Emre and Campbell, Jason D. and
Fedder, Gary K. and Goldstein, Seth Copen and Weller, Michael
Philetus and Yoon, Byung W.},
title = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
year = {2007},
month = {Oct},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This paper
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macroscale is to combine flexible electrodes with a geometery
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm^2 of latch
area.},
keywords = {Actuation, Adhesion, Claytronics},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros07.pdf},
}
|
|
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module | pdf bib | |
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein.
In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07,
Oct 1990.
|
| @inproceedings{weller-iros07,
author = {Weller, Michael Philetus and Karagozler, Mustafa Emre and
Kirby, Brian and Campbell, Jason D. and Goldstein, Seth Copen},
title = {Movement Primitives for an Orthogonal Prismatic
Closed-Lattice-Constrained Self-Reconfiguring Module},
booktitle = {Workshop on Self-Reconfiguring Modular Robotics at the
IEEE International Conference on Intelligent Robots and Systems
(IROS) '07},
year = {2007},
month = {Oct},
keywords = {Claytronics, Adhesion, Robotics, Planning},
abstract = {We describe a new set of prismatic movement primitives
for cubic modular robots. Our approach appears more practical
than previous metamodule-based approaches. We also describe
recent hardware developments in our cubic robot modules that have
sufficient stiffness and actuator strength so that when they work
together they can realize, in earth's gravity, all of the motion
primitives we describe here.},
url = {http://www.cs.cmu.edu/~claytronics/papers/weller-iros07.pdf},
}
|
Power |
|
Analysis and Modeling of Capacitive Power Transfer in Microsystems | bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts.
Circuits and Systems I: Regular Papers, IEEE Transactions on,
59(7):1557–1566, Jul 1990.
|
| @article{kgr12a,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Ricketts, David S.},
journal = {Circuits and Systems I: Regular Papers, IEEE Transactions
on},
title = {Analysis and Modeling of Capacitive Power Transfer in
Microsystems},
year = {2012},
month = {Jul},
volume = {59},
number = {7},
pages = {1557--1566},
keywords = {Actuation, Adhesion,Power},
doi = {10.1109/TCSI.2011.2177011},
issn = {1549-8328},
}
|
|
Magnetic resonant coupling as a potential means for wireless power transfer to multiple small receivers | pdf bib | |
Benjamin L. Cannon, James F. Hoburg, Daniel D. Stancil, and Seth Copen Goldstein.
IEEE Transactions on Power Electronics,
24(7), Jul 1990.
|
| @article{cannon-tranpe09,
author = {Cannon, Benjamin L. and Hoburg, James F. and Stancil,
Daniel D. and Goldstein, Seth Copen},
title = {Magnetic resonant coupling as a potential means for
wireless power transfer to multiple small receivers},
year = {2009},
url = {http://www.cs.cmu.edu/~claytronics/papers/cannon-tranpe09.pdf},
month = {Jul},
volume = {24},
number = {7},
journal = {IEEE Transactions on Power Electronics},
keywords = {Power},
abstract = {Wireless power transfer via magnetic resonant coupling
is experimentally demonstrated in a system with a large source
coil and either one or two small receivers. Resonance between
source and load coils is achieved with lumped capacitors
terminating the coils. A circuit model is developed to describe
the system with a single receiver, and extended to describe the
system with two receivers. With parameter values chosen to obtain
good fits, the circuit models yield transfer frequency responses
that are in good agreement with experimental measurements over a
range of frequencies that span the resonance. Resonant frequency
splitting is observed experimentally and described theoretically
for the multiple receiver system. In the single receiver system
at resonance, more than 50\% of the power that is supplied by the
actual source is delivered to the load. In a multiple receiver
system, a means for tracking frequency shifts and continuously
retuning the lumped capacitances that terminate each receiver
coil so as to maximize efficiency is a key issue for future
work.},
}
|
|
Why area might reduce power in nanoscale CMOS | pdf bib | |
Paul Beckett and Seth Copen Goldstein.
In IEEE International Symposium on Circuits and Systems, 2005, (ISCAS 2005),
volume 3, pages 2329–2332, May 1990.
|
| @inproceedings{beckett-iscas05,
title = {Why area might reduce power in nanoscale CMOS},
url = {http://www.cs.cmu.edu/~seth/papers/beckett-iscas05.pdf},
booktitle = {IEEE International Symposium on Circuits and Systems,
2005, (ISCAS 2005)},
author = {Beckett, Paul and Goldstein, Seth Copen},
year = {2005},
pages = {2329-2332},
volume = {3},
month = {May},
address = {Kobe, Japan},
abstract = {In this paper we explore the relationship between power
and area. By exploiting parallelism (and thus using more area)
one can reduce the switching frequency allowing a reduction in
VDD which results in a reduction in power. Under a scaling regime
which allows threshold voltage to increase as VDD decreases we
find that dynamic and subthreshold power loss in CMOS exhibit a
dependence on area proportional to A^((\sigma^-3)/\sigma) while
gate leakage power proportional to A^((\sigma^-6)/\sigma) and
short circuit power A^((\sigma^-6)/\sigma). Thus, with the large
number of devices at our disposal we can exploit techniques such
as spatial computing--tailoring the program directly to the
hardware--to overcome the negative effects of scaling. The value
of s describes the effectiveness of the technique for a
particular circuit and/or algorithm--for circuits that exhibit a
value of \sigma <= 3, power will be a constant or reducing
function of area. We briefly speculate on how \sigma might be
influenced by a move to nanoscale technology.},
keywords = {Electronic Nanotechnology,Power,Energy},
}
|
Actuation |
|
Analysis and Modeling of Capacitive Power Transfer in Microsystems | bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts.
Circuits and Systems I: Regular Papers, IEEE Transactions on,
59(7):1557–1566, Jul 1990.
|
| @article{kgr12a,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Ricketts, David S.},
journal = {Circuits and Systems I: Regular Papers, IEEE Transactions
on},
title = {Analysis and Modeling of Capacitive Power Transfer in
Microsystems},
year = {2012},
month = {Jul},
volume = {59},
number = {7},
pages = {1557--1566},
keywords = {Actuation, Adhesion,Power},
doi = {10.1109/TCSI.2011.2177011},
issn = {1549-8328},
}
|
|
Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm Diameter Robot | pdf bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and James Robert Reid.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '09),
Oct 1990.
See karagozler-iros09.
|
| @inproceedings{karagozler-iros09,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Reid, James Robert},
title = {Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm
Diameter Robot},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '09})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
see = {karagozler-iros09},
year = {2009},
month = {Oct},
abstract = {As the size of the modules in a self-reconfiguring
modular robotic system shrinks and the number of modules
increases, the flexibility of the system as a whole increases. In
this paper, we describe the manufacturing methods and mechanisms
for a 1 millimeter diameter module which can be manufactured en
masse. The module is the first step towards realizing the basic
unit of claytronics, a modular robotic system designed to scale
to millions of units.},
keywords = {Actuation, Adhesion, Robot Fabrication},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros09.pdf},
}
|
|
A Modular Robotic System Using Magnetic Force Effectors | pdf bib | |
Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
Oct 1990.
|
| @inproceedings{bkirby-iros07,
author = {Kirby, Brian and Aksak, Burak and Goldstein, Seth Copen
and Hoburg, James F. and Mowry, Todd C. and Pillai, Padmanabhan},
title = {A Modular Robotic System Using Magnetic Force Effectors},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
year = {2007},
month = {Oct},
abstract = {One of the primary impediments to building ensembles
with many modular robots is the complexity and number of
mechanical mechanisms used to construct the individual modules.
As part of the Claytronics project---which aims to build very
large ensembles of modular robots---we investigate how to
simplify each module by eliminating moving parts and reducing the
number of mechanical mechanisms on each robot by using
force-at-a-distance actuators. Additionally, we are also
investigating the feasibility of using these unary actuators to
improve docking performance, implement intermodule adhesion,
power transfer, communication, and sensing.},
keywords = {Claytronics, Actuation, Adhesion},
url = {http://www.cs.cmu.edu/~claytronics/papers/bkirby-iros07.pdf},
}
|
|
Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots | pdf bib | |
Mustafa Emre Karagozler, Jason D. Campbell, Gary K. Fedder, Seth Copen Goldstein, Michael Philetus Weller, and Byung W. Yoon.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
Oct 1990.
|
| @inproceedings{karagozler-iros07,
author = {Karagozler, Mustafa Emre and Campbell, Jason D. and
Fedder, Gary K. and Goldstein, Seth Copen and Weller, Michael
Philetus and Yoon, Byung W.},
title = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
year = {2007},
month = {Oct},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This paper
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macroscale is to combine flexible electrodes with a geometery
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm^2 of latch
area.},
keywords = {Actuation, Adhesion, Claytronics},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros07.pdf},
}
|
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|