Automated Nano-Assembly in the SEM I: Challenges in setting up a warehouse

Abstract

This paper describes the implementation of setting up a warehouse for automated nano-assembly, i.e. the automated registration of the parts processed during the automated assembly. Starting with a brief description of the goals of the assembly process, the overall process structure and its challenges with respect to the micro- and nanoscale are explained. The warehouse task is used as an example for describing the task planning, the necessity to minimize the number of subtasks taking further constraints from the experimental setup into account. For controlling such a complex assembly process, an intelligent and flexible control and communication system architecture is necessary, which will be explained in detail. Based on these considerations, the implementation of the warehouse task and its challenges, including the representation of the parts in the control system, object recognition using generalized models and methods for part origin determination will be presented.