Remote Actuation and Control of Multiple Magnetic Micro-robots PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Remote Actuation and Control of Multiple Magnetic Micro-robots PDF full book. Access full book title Remote Actuation and Control of Multiple Magnetic Micro-robots by Eric David Diller. Download full books in PDF and EPUB format.
Author: Eric David Diller
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
Get Book Here
Book Description
Author: Eric David Diller
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
Get Book Here
Book Description
Author: Metin Sitti
Publisher: MIT Press
ISBN: 0262341018
Category : Technology & Engineering
Languages : en
Pages : 305
Get Book Here
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: Sajad Salmanipour
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
Get Book Here
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: Mohammad Salehizadeh
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
Get Book Here
Book Description
My PhD dissertation takes an innovative approach to using the fundamental tools of robotics and control to solve the underactuated control problem of multiple magnetic microrobots for biomedical applications. The ability to use a team of microrobots to run a task can offer many advantages. However, the integration of on-board powering and sensing circuitry has not yet become possible at the microscale. Therefore, all magnetic microrobots (micro-agents) of the team have to share a single driving signal, whereas the system has multiple states to be independently controlled. Another major challenge with magnetic team control is that when multiple magnetic microrobots work together in close proximity, the agents tend to irreversibly stick together due to strong magnetic inter-agent forces. Previous studies either ignored the inter-agent forces by simply assuming their robots were far apart or treated these forces as disturbances without verifying the stability in close proximity. I solved for the first time this problem for a pair of magnetic agents in close proximity in 2D (and later in 3D) by making full use of inter-agent forces to control the motion of agents. In my approach, the positions of microrobots were controlled independently. As a practical demonstration, I showed for the first time that the motion of two functional magnetic microrobots as microgrippers can be controlled in 3D to run a task. Subsequently, to generalize the inter-agent force control to more agents, I introduced two solutions: 1) via optimization-based control (as a control technique), and 2) via motion planning and tracking (as a robotics technique). My PhD research enabled for the first time the collision-free autonomous navigation of a team of magnetic microrobots in close proximity. This solution allows magnetic microrobots to potentially act in a cluttered environment, such as the human body or microfluidic channels. To this end, I employed rapidly-exploring random tree (RRT) motion planning. I further incorporated the idea to run two practical demos that could be applied to cell testing/manipulation. The results of this PhD work can be applied to actuation and sensing, especially in the design of field-activated medical devices and for localized targeted drug delivery.
Author: Eric Diller
Publisher: Now Pub
ISBN: 9781601987105
Category : Technology & Engineering
Languages : en
Pages : 130
Get Book Here
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: Nahum Arenas Torres
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 138
Get Book Here
Book Description
The field of untethered microrobotics has emerged within the last two decades for its applications potential in military surveillance, micro and nano manufacturing, as well as in health care for minimal invasive surgery and drug delivery. Microrobots need to be fast and precise in order to be useful as a tool for manufacturing applications. It is well understood that at this size scale numerous challenges prevail such as stiction between microrobot and environment, providing power, locomotion control, and intelligence to microrobots and motion measurement. In order to accelerate the research in this field, I participated in the Mobile Microrobotics Challenge (MMC). MMC is an annual event organized by the Institute of Electrical and Electronics Engineers Robotics and Automation Society (IEEE RAS) since 2013 and designed to encourage researchers around the world to solve pressing challenges in microrobotics. The challenge is composed of three events: 1) the autonomous mobility and accuracy challenge, 2) the microassembly challenge and 3) the MMC showcase and poster session. These challenges simulate common tasks that are found in medical applications, involving high speed closed-loop positioning, and in microassembly applications involving precision motion control and the later and the showcase and poster challenge tests your communication skills. This thesis investigates and provides methods to mitigate the problems of stiction, locomotion control, and motion measurement for microrobots. In addition, we discuss novel methods for providing cooperative behavior to multiple microrobots and to estimate and mitigate spatial uncertainty estimation for modular serial link robotic platforms. In this dissertation I describe novel methods to enhance the performance of magnetic microrobots, reduce environmental forces via inexpensive anti-friction coatings, and increase their velocities via novel mechanical amplifiers. Such methods generate swarming motions, with a leader and formation following behavior, and cooperative planar motions compatible with micromanipulation tasks such as grasping. Moreover, I provide a possible application scenario using such cooperative behavior to assemble optical elements.The cooperative grasping behavior is produced by the magnetic field gradient controlled by a modular multi-degree of freedom serial link robot used to position the conical permanent magnet with respect to the robots' workspace. In the course of this research it was necessary to precisely characterize and compensate for the spatial uncertainty of the robot. Spatial uncertainty is an inherent feature of multiple-link robots due to misalignment of joints, link length, resolution of the actuator, the type of joint, the path of motion and the atmosphere of operation. Such uncertainties can be detrimental for robots used in assembly tasks where precision is essential. In order to overcome this fundamental challenge with flexible or modular assembly and packaging systems, I presents a novel precision evaluation and control technique to estimate and track the end-effector position errors in a robotic manipulation system resulting from the kinematic configuration as well as the dynamic parameters for each specific task; thereby, allowing the automation application to compensate for these errors in run-time.
Author: Toshio Fukuda
Publisher: World Scientific
ISBN: 9789810214579
Category : Technology & Engineering
Languages : en
Pages : 296
Get Book Here
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: Denise Wong
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
Get Book Here
Book Description
The continuing trend in miniaturization of technology, advancements in micro and nanofabrication and improvements in high-resolution imaging has enabled micro- and meso-scale robots that have many applications. They can be used for micro-assembly, directed drug delivery, microsurgery and high-resolution measurement. In order to create microrobots, microscopic sensors, actuators and controllers are needed. Unique challenges arise when building microscale robots. For inspiration, we look toward highly capable biological organisms, which excel at these length scales. In this dissertation we develop technologies that combine biological components and synthetic components to create actuation, sensing and assembly onboard microrobots. For actuation, we study the dynamics of synthetic micro structures that have been integrated with single-cell biological organisms to provide un-tethered onboard propulsion to the microrobot. For sensing, we integrate synthetically engineered sensor cells to enable a system capable of detecting a change in the local environment, then storing and reporting the information. Furthermore, we develop a bottom-up fabrication method using a macroscopic magnetic robot to direct the assembly of inorganic engineered micro structures. We showcase the capability of this assembly method by demonstrating highly-specified, predictable assembly of microscale building blocks in a semi-autonomous experiment. These magnetic robots can be used to program the assembly of passive building blocks, with the building blocks themselves having the potential to be arbitrarily complex. We extend the magnetic robot actuation work to consider control algorithms for multiple robots by exploiting spatial gradients of magnetic fields. This thesis makes contributions toward actuation, sensing and control of autonomous micro systems and provides technologies that will lead to the development of swarms of microrobots with a suite of manipulation and sensing capabilities working together to sense and modify the environment.
Author: Yu Sun
Publisher: Springer Nature
ISBN: 3030801977
Category : Technology & Engineering
Languages : en
Pages : 422
Get Book Here
Book Description
This book describes the substantial progress recently made in the development of micro and nanorobotic systems, utilizing magnetic, optical, acoustic, electrical, and other actuation fields. It covers several areas of micro and nanorobotics including robotics, materials science, and biomedical engineering. Field-Driven Micro and Nanorobots for Biology and Medicine provides readers with fundamental physics at the micro and nano scales, state-of-the-art technical advances in field-driven micro and nanorobots, and applications in biological and biomedical disciplines.
Author: Nicolas Chaillet
Publisher: John Wiley & Sons
ISBN: 1118622383
Category : Technology & Engineering
Languages : en
Pages : 431
Get Book Here
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.
