Multi-hierarchical control system for controlling object motion with smart matter

A method for controlling motion of an object on a transport assembly, the transport assembly having sensor units and actuator units arranged thereon, the sensor units providing positional information of the object and the actuator units moving the object relative to the transport assembly, said method comprising the steps of:

• defining a plurality of computational elements for controlling motion of the object along the transport assembly;
• arranging the plurality of computational elements multi-hierarchically into groups;
• coupling selected ones of the sensor units and the actuator units to selected ones of the groups of computational elements to form overlapping zones of control;
• and
• coordinating transitions of control between the plurality of computational elements as the object moves along the transport assembly.

A transport assembly for moving paper, comprising:

• sensor units arranged on the transport assembly for providing positional information of the paper;
• actuator units arranged on the transport assembly for moving the paper relative to the transport assembly;
• and
• computational elements arranged multi-hierarchically into groups for controlling motion of the paper along the transport assembly;
• the groups of computational elements being coupled to selected ones of said sensor units and said actuator units to define zones of control;
• each zone of control overlapping with other zones of control to coordinate transition of control between the computational elements as the paper moves along the transport assembly.