System and method for multi-object micro-assembly control with the aid of a digital computer

A method for multi-object micro-assembly control with the aid of a digital computer, comprising:

• obtaining by one or more of a plurality of processors configured to execute computer-executable code one or more parameters of a system for positioning a plurality of chiplets, each of the chiplets comprising a micro-object, the system comprising a plurality of electrodes, each of the electrodes controlled by a photo-transistor, the electrodes configured to induce a movement of the chiplets when the chiplets are suspended in a fluid proximate to the electrodes upon a generation of one or more electric potentials by one or more of the electrodes;
• modeling by one or more of the plurality of processors capacitance between the chiplets and the electrodes and capacitance between the chiplets based on the parameters of the system;
• estimating by one or more of the plurality of processors positions of the chiplets based on images taken by at least one camera;
• receiving by one or more of the plurality of processors further positions of at least some of the chiplets;
• performing by the plurality of processors model predictive control (MPC) optimization to derive based on the capacitance modeling a control scheme for moving the at least some chiplets from the positions to the further positions and potentials of the electrode potentials necessary for the at least some chiplets to travel along the trajectories, wherein the trajectories are parametrized as smooth, time-dependent functions during the MPC optimization and the electrode potentials are parametrized as smooth time-and-space-dependent functions during the MPC optimization, wherein the processors work in parallel to perform the MPC optimization, wherein the trajectory and the potentials are given a neural network representation, and wherein the MPC optimization is performed using automatic differentiation;
• mapping by one or more of the plurality of processors the electrode potentials in the control scheme to one or more further images;
• controlling by one or more of the plurality of processors a video projector to project the one or more further images to the photo-transistors, wherein the phototransistors control the electrodes to generate the electrode potentials in the control scheme based on the projected images.