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2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)最新文献

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Learning Decentralized Controllers for Segregation of Heterogeneous Robot Swarms with Graph Neural Networks 基于图神经网络的异构机器人群分离学习分散控制器
2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870482
Oyindamola Omotuyi, Manish Kumar
{"title":"Learning Decentralized Controllers for Segregation of Heterogeneous Robot Swarms with Graph Neural Networks","authors":"Oyindamola Omotuyi, Manish Kumar","doi":"10.1109/MARSS55884.2022.9870482","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870482","url":null,"abstract":"In this paper, we studied the problem of finding decentralized controllers for large-scale heterogeneous robot swarms exhibiting segregative behaviors. As seen in nature, Segregative behaviors involve sorting a group of robots into groups based on their type. Our approach involves learning controllers that utilize local information at test time by imitating the policy of a centralized controller based on a differential potential concept at training time. We parameterized our policy using a time-varying aggregation graph neural network with multi-hop communication. This incorporates information not only from immediate neighbors but distant neighbors. We showed that our controller outperformed a local controller that considers only immediate neighbors and achieved similar performance to the centralized controller through varied experiments. In addition, we demonstrated the scalability of our method by exploring larger swarms and different groups.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122995366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Imaging and control of nanomaterial-decorated micromotors 纳米材料装饰微电机的成像与控制
2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870252
Azaam Aziz, R. Nauber, Ana Sánchez Iglesias, L. Liz‐Marzán, Oliver G. Schmidt, M. Medina‐Sánchez
{"title":"Imaging and control of nanomaterial-decorated micromotors","authors":"Azaam Aziz, R. Nauber, Ana Sánchez Iglesias, L. Liz‐Marzán, Oliver G. Schmidt, M. Medina‐Sánchez","doi":"10.1109/MARSS55884.2022.9870252","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870252","url":null,"abstract":"Micro-and nanorobots have the potential to perform non-invasive drug delivery, sensing, and surgery in living organisms with the aid of diverse medical imaging techniques. To perform such actions with microrobots require high spatiotemporal resolution tracking methods with real-time closed-loop feedback. Photoacoustic imaging (PAI) has appeared to be promising for the imaging of microrobots in deep tissue with better contrast. The precise maneuvering and function control of micromotors demands the combination of both deeptissue imaging and their control. Here, we show the motion behavior of the micromotors in a parametric study using closedloop control with optical feedback. We also present different strategies to overcome the current limitations of PAI to track micromotors with improved contrast by the use of dedicated contrast agents (Au nanorods (AuNRs) and Au nanostars (AuNSs)) and the proper selection of the transducer according to the penetration depth, and finally, we discuss the possibility to employ trans-illumination settings.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127944377","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Online real-time platform for microrobot steering in a multi-bifurcation 多分支微型机器人转向在线实时平台
2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870250
Benjamin W. Jarvis, R. Poli, A. K. Hoshiar
{"title":"Online real-time platform for microrobot steering in a multi-bifurcation","authors":"Benjamin W. Jarvis, R. Poli, A. K. Hoshiar","doi":"10.1109/MARSS55884.2022.9870250","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870250","url":null,"abstract":"The study of methods to control a collection of ferrous microparticles (microswarm) within an electromagnetic field is a branch of medical robotics that has many promising applications. To this date, most simulated data is obtained from accurate but time-consuming simulations of which the biggest disadvantage is the removal of the human from the control loop. In practice a human in the loop will in many cases be controlling the microswarms. In order to re-introduce the human aspect into the control loop, this paper describes the development and validation of a real time simulator. By satisfying the real time requirement, we can record users interactions with the microswarm in a similar way that the user would react with real world particles. The context of each simulation is for the user to direct a microswarm through a multi-bifurcation towards a selected outlet. The percentage of particles reaching the selected outlet is considered as the success metric. The model has been verified against previous experimental data.The platform showed 8% deviation from the experimental data. Parametric studies were then undertaken, providing an initial data set to analyse different real time articulation strategies. It was found that the fluid flow velocity made the most difference to the success of the user. With lower fluid flow velocities of 0.001m/s to 0.005m/s, close to 100% of particles reached the chosen outlet. This drops to around only 30% of particles reaching the chosen outlet at a fluid flow velocity of 0.25m/s. The other parameters particle size and capped magnetic force produced a much lesser variation in results, with the maximum and minimum recorded numbers of particles reaching the chosen outlet for both tests only ranging 20% each. The platform, being generic, would also be appropriate as a training tool.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114160732","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Design and Characterization of a Fully 3D Printed Vision-Based Micro-Force Sensor for Microrobotic Applications* 用于微型机器人应用的全3D打印视觉微力传感器的设计和表征*
2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870488
G. Adam, G. Ulliac, C. Clévy, D. Cappelleri
{"title":"Design and Characterization of a Fully 3D Printed Vision-Based Micro-Force Sensor for Microrobotic Applications*","authors":"G. Adam, G. Ulliac, C. Clévy, D. Cappelleri","doi":"10.1109/MARSS55884.2022.9870488","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870488","url":null,"abstract":"Over the years, research and development into micro-force sensing techniques has gained a lot of traction, especially for microrobotic applications, such as micromanipulation and biomedical material characterization studies. Moreover, in recent years, new microfabrication techniques have been developed, such as two-photon polymerization (2PP), which enables fast prototyping, high resolution features, and the utilization of a wide range of materials. In this work, these two fields are combined to realize the first fully 3D printed vision-based micro-force sensor. The sensor exhibits tunable stiffness properties, which are simulated and compared with calibration values for a variety of 2PP printing settings. Lastly, the sensors are used to measure the mechanical properties of fish eggs as a cell analog to showcase the possible applications of the system.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127789544","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Scaling Rules for Microrobots with Full Energetic Autonomy 具有完全能量自治的微型机器人的缩放规则
2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870509
Erwin van Renselaar, Benedikt Keitel, Mehmet Dinç, B. Mizaikoff, Arturo Susarrey-Arce, H. Gardeniers, L. Abelmann, I. Khalil
{"title":"Scaling Rules for Microrobots with Full Energetic Autonomy","authors":"Erwin van Renselaar, Benedikt Keitel, Mehmet Dinç, B. Mizaikoff, Arturo Susarrey-Arce, H. Gardeniers, L. Abelmann, I. Khalil","doi":"10.1109/MARSS55884.2022.9870509","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870509","url":null,"abstract":"There is an increasing need for wireless autonomous micro electromechanical systems (MEMS) and microrobots that can perform various functions such as sensing, diagnosis, locomotion, actuation, implantation, material removal, manipulation, and localized drug delivery. A major problem with these systems is the production, storage, and transduction of power at the micro scale. In addition, these miniature devices cannot use existing battery packs that are commonly used to power electronic devices. These MEMS and microrobots need on-board power sources that are miniaturized to their size. Together with the energy of an external source, some basic functions of microrobots can be powered simultaneously. This study seeks to develop a theoretical framework based on a chemo-electromagnetic model for use in the design of microrobots with full energetic autonomy. We first conceive a microrobot design and derive its mathematical model; the design consists of an on-board fuel generator, electrochemical device, electromagnetic device, and a locomotion mechanism. Then we present numerical simulations to show the relationship between the consumption rate of the H2 source, power density, and angular and translational velocities at low Reynolds number. We find that power density decreases approximately linearly with the diameter, while the relative velocity with respect to the body-length is approximately inversely proportional to the size, making downscaling favourable for this class of untethered devices.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125198549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A mechanical metamaterial structure with chiral concave quadrilateral negative Poisson's ratio 具有手性凹四边形负泊松比的机械超材料结构
2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870507
Fahua Qu, Siming Jiang, Rixin Wang, Benling Zhu, Xianmin Zhang
{"title":"A mechanical metamaterial structure with chiral concave quadrilateral negative Poisson's ratio","authors":"Fahua Qu, Siming Jiang, Rixin Wang, Benling Zhu, Xianmin Zhang","doi":"10.1109/MARSS55884.2022.9870507","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870507","url":null,"abstract":"In recent years, to break through the performance limitations of traditional materials themselves, the design of metamaterials has received extensive attention. In this paper, a novel three-dimensional negative Poisson's ratio mechanical metamaterial is designed by configuring the cellular structure of three-dimensional negative Poisson's ratio materials. The structure combines the traditional concave quadrilateral structure and the rotating rigid body structure and replaces the rigid nodes of the rotating rigid body structure with the concave quadrilateral structure. The traditional negative Poisson's ratio structure can only produce an obvious negative Poisson's ratio effect in another single direction when it is loaded in one direction. The negative Poisson's ratio structure designed in this paper has an obvious negative Poisson's ratio effect in the other two directions when the force is applied in one direction, and the performance of the designed structure is verified by theory and simulation.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123390640","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Magnetically Assembled Electronic Digital Materials 磁性组装电子数字材料
2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870499
Vojtěch Lapuník, Martin Juřík, Martin Vítek, Jiri Kuthan, F. Mach
{"title":"Magnetically Assembled Electronic Digital Materials","authors":"Vojtěch Lapuník, Martin Juřík, Martin Vítek, Jiri Kuthan, F. Mach","doi":"10.1109/MARSS55884.2022.9870499","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870499","url":null,"abstract":"The concept of digital materials at the boundary of electric circuits and miniature robotics is studied. The main objective is to develop an experimental framework for the automatic assembly of basic electric circuits from the elementary modules. The framework is demonstrated on tiny modules, so-called bits, which take advantage of magnetic actuation and connection, both electrically and mechanically. The concept has potential application in small-scale robotics, especially for modular reconfigurable and versatile insect-scale robots, which can be used as elementary parts of complex reconfigurable machines.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132612079","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Levitation control of capsule robot with 5-DOF based on arrayed Hall elements* 基于阵列霍尔单元的五自由度胶囊机器人悬浮控制*
2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870460
Fengwu Wang, Jiapeng Yang, Li Song, Lin Feng
{"title":"Levitation control of capsule robot with 5-DOF based on arrayed Hall elements*","authors":"Fengwu Wang, Jiapeng Yang, Li Song, Lin Feng","doi":"10.1109/MARSS55884.2022.9870460","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870460","url":null,"abstract":"Compared with traditional gastroscope, capsule robot has many advantages, such as painlessness, fast examination and convenient operation. It has a wide application prospect in the diagnosis and treatment of gastrointestinal diseases. However, the capsule robot in the current commercial market has some disadvantages, such as difficult control, low degree of freedom of motion, slow image transmission speed and so on. This paper proposes a magnetic control system of five degrees of freedom capsule robot based on square Helmholtz coils and gradient field. The system has smaller volume, lower energy consumption and higher control accuracy. It can effectively control the capsule robot to carry out a variety of movements in the simulated gastric environment. In addition, this paper proposes a positioning method based on simulated annealing, which has good positioning accuracy and can detect the position and rotation direction of the capsule robot in real time. It will assist in the accurate control of the capsule robot’s motion.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124874166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Author Index of Regular Papers 普通论文作者索引
2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/marss55884.2022.9870478
{"title":"Author Index of Regular Papers","authors":"","doi":"10.1109/marss55884.2022.9870478","DOIUrl":"https://doi.org/10.1109/marss55884.2022.9870478","url":null,"abstract":"","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125944785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Manufacturing Microfluidic Chips: Micro Milling Approach 制造微流控芯片:微铣削方法
2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870498
Martin C. Allen, Simon Lookmire, E. Avci
{"title":"Manufacturing Microfluidic Chips: Micro Milling Approach","authors":"Martin C. Allen, Simon Lookmire, E. Avci","doi":"10.1109/MARSS55884.2022.9870498","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870498","url":null,"abstract":"Microfluidics are an important technology for the biomedical industry and often utilised in our daily lives. To facilitate the development of this technology, micromilling is proposed as an alternative method to conventional photo-lithography for fabricating microfluidic chips. There remains uncertainty around what the ideal milling practices are and it is therefore important to investigate the milling process as well as the optimal parameters. It is determined that the highest quality surface can be obtained at 60,000 RPM spindle speed with a 200 mm/min feed rate for PMMA, a common microfludic material. Robust data was used to verify this relationship. Recommendations are made to further refine the milling process to improve surface quality, including an example of a potential final product.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129548046","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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