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Author: Sajad Salmanipour
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Magnetic millimeter-scale robots are often actuated using externally generated magnetic fields. For most applications, these remote magnetic microrobots are located relatively far from the magnetic field generation sources. In this condition, all microrobots receive approximately the same driving magnetic field, which we term a homogeneous magnetic field. For many microrobotic tasks such as drug dispensing, biopsy tool activation or grasping, multiple system degrees of freedom (DOF) must be controlled. To achieve multi-DOF control in a homogeneous magnetic field, clever system design is required. While some progress has been made in this area allowing up to six independent DOFs to be individually commanded, there has been no rigorous effort in determining the maximum achievable number of DOFs for systems with homogeneous magnetic field input. In this work, we show that this maximum is eight and we introduce the theoretical basis for this conclusion, relying on the number of independent usable components in a magnetic field at a point. To verify the claim experimentally, we first develop an electromagnetic field generation system capable of generation all the eight independent magnetic components at a single point, followed by a simple 8-DOF demonstration mechanism, to show the feasibility of eight independently actuated motions. Next, we introduce a design process to utilize the maximum number of independently actuated DOFs on a microrobot system. We make use of four classes of microrobotic mechanisms which are commonly used in practice and allow for the creation of more complex microrobotic mechanisms with up to eight actuated DOFs. The systematic design framework is presented in the form of an optimization problem, where the designer specifies the number of magnets, and the type and quantity of mechanisms of the microdevice. The result gives the optimized position and orientation of on-board magnets and axes for mechanism motion. To verify the functionality of the design process, we utilize it to develop a 7-DOF wireless robot for drug delivery applications. Next, to investigate the feasibility of utilizing magnetic actuation methods in minimally invasive surgery procedures, a 3-DOF wireless gripper prototype and an 8-DOF two-grippers mechanism will be presented. The method and design process presented here for achieving up to eight actuated DOFs in homogeneous quasi-static magnetic fields can be applied to any microrobotic system where multiple motions and on-board mechanisms can lead to a more effective system.
Author: Sajad Salmanipour
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Magnetic millimeter-scale robots are often actuated using externally generated magnetic fields. For most applications, these remote magnetic microrobots are located relatively far from the magnetic field generation sources. In this condition, all microrobots receive approximately the same driving magnetic field, which we term a homogeneous magnetic field. For many microrobotic tasks such as drug dispensing, biopsy tool activation or grasping, multiple system degrees of freedom (DOF) must be controlled. To achieve multi-DOF control in a homogeneous magnetic field, clever system design is required. While some progress has been made in this area allowing up to six independent DOFs to be individually commanded, there has been no rigorous effort in determining the maximum achievable number of DOFs for systems with homogeneous magnetic field input. In this work, we show that this maximum is eight and we introduce the theoretical basis for this conclusion, relying on the number of independent usable components in a magnetic field at a point. To verify the claim experimentally, we first develop an electromagnetic field generation system capable of generation all the eight independent magnetic components at a single point, followed by a simple 8-DOF demonstration mechanism, to show the feasibility of eight independently actuated motions. Next, we introduce a design process to utilize the maximum number of independently actuated DOFs on a microrobot system. We make use of four classes of microrobotic mechanisms which are commonly used in practice and allow for the creation of more complex microrobotic mechanisms with up to eight actuated DOFs. The systematic design framework is presented in the form of an optimization problem, where the designer specifies the number of magnets, and the type and quantity of mechanisms of the microdevice. The result gives the optimized position and orientation of on-board magnets and axes for mechanism motion. To verify the functionality of the design process, we utilize it to develop a 7-DOF wireless robot for drug delivery applications. Next, to investigate the feasibility of utilizing magnetic actuation methods in minimally invasive surgery procedures, a 3-DOF wireless gripper prototype and an 8-DOF two-grippers mechanism will be presented. The method and design process presented here for achieving up to eight actuated DOFs in homogeneous quasi-static magnetic fields can be applied to any microrobotic system where multiple motions and on-board mechanisms can lead to a more effective system.
Author: Eric Diller
Publisher: Now Pub
ISBN: 9781601987105
Category : Technology & Engineering
Languages : en
Pages : 130
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Book Description
Provides a tutorial on the physical phenomena governing the operation and design of microrobots and a survey of existing approaches to microrobot design and control. It also provides an overview of actuation and control methods commonly used to remotely power these designs, as well as a discussion of possible future research directions.
Author: Metin Sitti
Publisher: MIT Press
ISBN: 0262341018
Category : Technology & Engineering
Languages : en
Pages : 305
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Book Description
The first textbook on micron-scale mobile robotics, introducing the fundamentals of design, analysis, fabrication, and control, and drawing on case studies of existing approaches. Progress in micro- and nano-scale science and technology has created a demand for new microsystems for high-impact applications in healthcare, biotechnology, manufacturing, and mobile sensor networks. The new robotics field of microrobotics has emerged to extend our interactions and explorations to sub-millimeter scales. This is the first textbook on micron-scale mobile robotics, introducing the fundamentals of design, analysis, fabrication, and control, and drawing on case studies of existing approaches. The book covers the scaling laws that can be used to determine the dominant forces and effects at the micron scale; models forces acting on microrobots, including surface forces, friction, and viscous drag; and describes such possible microfabrication techniques as photo-lithography, bulk micromachining, and deep reactive ion etching. It presents on-board and remote sensing methods, noting that remote sensors are currently more feasible; studies possible on-board microactuators; discusses self-propulsion methods that use self-generated local gradients and fields or biological cells in liquid environments; and describes remote microrobot actuation methods for use in limited spaces such as inside the human body. It covers possible on-board powering methods, indispensable in future medical and other applications; locomotion methods for robots on surfaces, in liquids, in air, and on fluid-air interfaces; and the challenges of microrobot localization and control, in particular multi-robot control methods for magnetic microrobots. Finally, the book addresses current and future applications, including noninvasive medical diagnosis and treatment, environmental remediation, and scientific tools.
Author: Toshio Fukuda
Publisher: World Scientific
ISBN: 9789810214579
Category : Technology & Engineering
Languages : en
Pages : 296
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Book Description
This book introduces interesting topics, from concepts to the latest research, on cellular and micro robotic systems. The cellular robotic system is a self-organizing robotic system composed of a large number of autonomous robotic units, named cells. This idea came from the organic structure of a living body. Several attractive topics in this area are covered, such as swarm intelligence, communications, and robotic mechanisms. The micro robotic system is currently the most fascinating technology. Micro mechanisms, control and intelligence, with respect to this system are treated here. The combination of both technologies will prepare the way for a new paradigm in the field of engineering.
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 1016
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Book Description
Author: Alper Erturk
Publisher: John Wiley & Sons
ISBN: 1119991358
Category : Technology & Engineering
Languages : en
Pages : 377
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Book Description
The transformation of vibrations into electric energy through the use of piezoelectric devices is an exciting and rapidly developing area of research with a widening range of applications constantly materialising. With Piezoelectric Energy Harvesting, world-leading researchers provide a timely and comprehensive coverage of the electromechanical modelling and applications of piezoelectric energy harvesters. They present principal modelling approaches, synthesizing fundamental material related to mechanical, aerospace, civil, electrical and materials engineering disciplines for vibration-based energy harvesting using piezoelectric transduction. Piezoelectric Energy Harvesting provides the first comprehensive treatment of distributed-parameter electromechanical modelling for piezoelectric energy harvesting with extensive case studies including experimental validations, and is the first book to address modelling of various forms of excitation in piezoelectric energy harvesting, ranging from airflow excitation to moving loads, thus ensuring its relevance to engineers in fields as disparate as aerospace engineering and civil engineering. Coverage includes: Analytical and approximate analytical distributed-parameter electromechanical models with illustrative theoretical case studies as well as extensive experimental validations Several problems of piezoelectric energy harvesting ranging from simple harmonic excitation to random vibrations Details of introducing and modelling piezoelectric coupling for various problems Modelling and exploiting nonlinear dynamics for performance enhancement, supported with experimental verifications Applications ranging from moving load excitation of slender bridges to airflow excitation of aeroelastic sections A review of standard nonlinear energy harvesting circuits with modelling aspects.
Author: Nicolas Chaillet
Publisher: John Wiley & Sons
ISBN: 1118622383
Category : Technology & Engineering
Languages : en
Pages : 431
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Book Description
Microrobotics is an emerging and booming area with many and various applications, including in fields such as industrial/manufacturing robotics, medical robotics, and laboratory instrumentation. Microrobotics for Micromanipulation presents for the first time, in detail, a treatment of the field of robotics dedicated to handling objects of micrometer dimensions. At these dimensions, the behavior of objects is significantly different from the better known, larger scales, which leads to implementation techniques that can be radically different from the more commonly used solutions. This book details the behaviors of objects at the micrometer scale and provides robotics solutions that are suitable, in terms of actuators, grippers, manipulators, environmental perception, and microtechnology. Worked examples are included in the book - enabling engineers, students and researchers to familiarize themselves with this emerging area and to contribute to its development.
Author: Wei Deng
Publisher: CRC Press
ISBN: 1315762242
Category : Technology & Engineering
Languages : en
Pages : 194
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Book Description
This proceedings volume contains selected papers presented at the 2014 AASRI International Conference on Applied Engineering Sciences, held in Hollywood, LA, USA. Contributions cover the latest developments and advances in the field of Applied Engineering Sciences.
Author: Edward P. Furlani
Publisher: Elsevier
ISBN: 0080513697
Category : Science
Languages : en
Pages : 538
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Book Description
The book provides both the theoretical and the applied background needed to predict magnetic fields. The theoretical presentation is reinforced with over 60 solved examples of practical engineering applications such as the design of magnetic components like solenoids, which are electromagnetic coils that are moved by electric currents and activate other devices such as circuit breakers. Other design applications would be for permanent magnet structures such as bearings and couplings, which are hardware mechanisms used to fashion a temporary connection between two wires.This book is written for use as a text or reference by researchers, engineers, professors, and students engaged in the research, development, study, and manufacture of permanent magnets and electromechanical devices. It can serve as a primary or supplemental text for upper level courses in electrical engineering on electromagnetic theory, electronic and magnetic materials, and electromagnetic engineering.
Author: Nikolaus Correll
Publisher:
ISBN: 9780692700877
Category :
Languages : en
Pages : 226
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Book Description
This book introduces concepts in mobile, autonomous robotics to 3rd-4th year students in Computer Science or a related discipline. The book covers principles of robot motion, forward and inverse kinematics of robotic arms and simple wheeled platforms, perception, error propagation, localization and simultaneous localization and mapping. The cover picture shows a wind-up toy that is smart enough to not fall off a table just using intelligent mechanism design and illustrate the importance of the mechanism in designing intelligent, autonomous systems. This book is open source, open to contributions, and released under a creative common license.
