2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)最新文献_第5页

Multi-material Fabrication for Magnetically Driven Miniature Soft Robots Using Stereolithography 基于立体光刻技术的多材料磁驱动微型软机器人制造

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870492

Zhao-Xin Li, E. Diller

{"title":"Multi-material Fabrication for Magnetically Driven Miniature Soft Robots Using Stereolithography","authors":"Zhao-Xin Li, E. Diller","doi":"10.1109/MARSS55884.2022.9870492","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870492","url":null,"abstract":"Remote manipulation and controlled navigation of magnetically driven miniature soft robots make them promising robotic tools operating in hard-to-reach workspace. The functionality of robots can be enhanced by integrating multiple materials with different mechanical or magnetic characteristics. However, it remains challenging combining multiple materials along with arbitrary magnetization profile formation during fabrication. This study, from a pixel level, uses stereolithography process to precisely incorporate multiple materials with different physical properties for millimeter-scale robot printing, as well as encode discrete magnetizations for the actuating parts, which provides a customizable approach for sophisticated shape production. Complex shape transformations and dynamic motions were observed through the magnetic actuation of printed robots. With the integration of magnetoactive and non-magnetic materials, free locomotion in a liquid environment tracked by optical and ultrasonic detections was achieved by actuating a 4-arm flapping robot. Moreover, discrete patterns were formed with the combination of soft and rigid magnetic materials. Such versatility of robotic behaviors and enhanced morphing capabilities enable the creation of complex multi-material actuators and provide a promising route towards a wide spectrum of biomedical applications.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"64 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":"121754314","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: 3

Long-term imaging and spatio-temporal control of living cells using light 利用光对活细胞进行长期成像和时空控制

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870487

Neshika Wijewardhane, Ana Rubio Denniss, Matthew Uppington, H. Hauser, T. Gorochowski, Eugenia Piddini, S. Hauert

引用次数: 2

Advancing Atomic Force Microscopy Tips with 3D Design Control and Reduced Hamaker Constant * 先进的原子力显微镜技巧与3D设计控制和减少Hamaker常数*

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870484

A. Glia, Muhammedin Deliorman, M. Qasaimeh

{"title":"Advancing Atomic Force Microscopy Tips with 3D Design Control and Reduced Hamaker Constant *","authors":"A. Glia, Muhammedin Deliorman, M. Qasaimeh","doi":"10.1109/MARSS55884.2022.9870484","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870484","url":null,"abstract":"In this work, we deploy two-photon polymerization (2PP) technique for generating multipurpose polymer-based atomic force microscopy (AFM) tips, referred to as 3DTIPs, with great flexibility in design and function. With the rationale that 3DTIPs could complement or even substitute conventional silicon tips, we show that when compared, the 3DTIPs prove effective in obtaining high resolution, high speed AFM images in air and liquid using common AFM modes. In particular, we demonstrate that the 3DTIPs provide high resolution imaging due to their extremely low Hamaker constant, high speed scanning rates due to their low quality factor, and high durability due to their soft nature and minimal isotropic tip wear, the three important features for advancing the imaging with next generation AFM tips. We also show that, refining the tip end of the 3DTIPs by carbon nanotube inclusion substantially extends their functionality in high resolution AFM imaging, reaching angstrom scales. Altogether, multifunctional capabilities of 3DTIPs have potential to substitute conventional silicon tips for effectively performing various AFM applications.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"7 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":"129087184","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

Evolving Morphologies for Locomoting Micro-scale Robotic Agents 移动微尺度机器人代理的进化形态学

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870459

Matthew Uppington, P. Gobbo, S. Hauert, H. Hauser

引用次数: 1

Robotic Fiber Fabrication based on Solidification Force Control 基于凝固力控制的机器人纤维加工

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870490

Houari Bettahar, Teemu Välisalmi, Markus B. Linder, Quan Zhou

{"title":"Robotic Fiber Fabrication based on Solidification Force Control","authors":"Houari Bettahar, Teemu Välisalmi, Markus B. Linder, Quan Zhou","doi":"10.1109/MARSS55884.2022.9870490","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870490","url":null,"abstract":"In this paper, we propose a robotic fiber fabrication method based on solidification force control to achieve highly repeatable mechanical properties of fibers. Dextran material is used as the specimen in the experiments. It has been chosen because of its similar rheological behavior to silk protein at high mass concentrations. However, the viscosity of dextran material is very low at its liquid phase, so force control during fabrication is challenging. Here, we propose a novel approach that controls the mechanical properties of fiber by controlling the solidification force. We employ impedance control with force tracking to control the solidification force to carry out the threading experiments and examine the benefits of the proposed approach. The repeatability of the mechanical properties of the fabricated fibers has been studied and compared using three scenarios a) fiber fabrication without solidification force control, abbreviated as FFNC, b) fiber fabrication with solidification force control after 60 seconds of solidification from the beginning of the solidification force detection abbreviated as FFWC, and c) fiber fabrication with solidification force control immediately after the detection of the solidification force, abbreviated as FFSC. The experimental results show that fibers fabricated using FFSC scenario have the highest repeatability based on the coefficient of variation of properties of the fabricated fibers, where the obtained coefficient of variation of the toughness, stiffness, elongation, and strength are 12.8%, 13.6%, 14.8%, 12.7% respectively. The experimental results also showed that fibers' mechanical properties toughness, stiffness, elongation, and strength have a negative correlation with the fabrication pulling velocity.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"42 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":"134561737","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

Ag/CNT-PDMS crack sensing for measuring contractility of cardiomyocytes Ag/CNT-PDMS裂纹传感测量心肌细胞收缩力

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870457

Li Wang, Xingyuan Xu, Wenkun Dou, Jun Chen, Weiguang Su, Anqing Li, Chonghai Xu, Xingjian Liu, Liming Xin, Changhai Ru

引用次数: 0

Evaluating Miniature Robot Surgical Scissors* 评估微型机器人手术剪刀*

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870511

Z. Bao, E. Diller

引用次数: 0

SerpenBot, a Laser Driven Locomotive Microrobot for Dry Environments using Learning Control 基于学习控制的干燥环境激光驱动机车微型机器人SerpenBot

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870255

Zhong Yang, Moath H. A. Alqatamin, A. Sherehiy, Ruoshi Zhang, Mojtaba Al Hudibi, N. Taghavi, D. Popa

引用次数: 1

Rigid-Body Rotation Versus Transverse Bending Wave Swimming of Magnetically-Functionalized Sperm Cells 磁功能化精子细胞的刚体旋转与横向弯曲波游动

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870506

V. Magdanz, A. Klingner, L. Abelmann, I. Khalil

{"title":"Rigid-Body Rotation Versus Transverse Bending Wave Swimming of Magnetically-Functionalized Sperm Cells","authors":"V. Magdanz, A. Klingner, L. Abelmann, I. Khalil","doi":"10.1109/MARSS55884.2022.9870506","DOIUrl":"https://doi.org/10.1109/MARSS55884.2022.9870506","url":null,"abstract":"Cell membrane potential affects the electrostatic self-assembly of magnetizable nanoparticles around the flagellum of sperm cells, leading to the formation of biohybrid microrobots (i.e. IRONSperm) with various bending stiffness. Here we explain the influence of bull sperm cell membrane potential on the formation of two types of IRONSperm samples that are produced by electrostatic self-assembly. The first is a proximal-coated soft body with nanoparticles concentrated on the head to maintain high flexibility of the flagellum and create a passively propagating transverse bending wave under the influence of an external rotating magnetic field. The second is a rigid-body with nanoparticles approximately uniformly distributed along the length to provide arbitrary geometry that maintains a constant chiral shape and propel by rotation about its long axis. We present a magneto-elastohydrodynamic model to predict the swimming speed at low Reynolds number for rigid IRONSperm with arbitrary shapes, and show that decreasing the bending stiffness allows the model to capture the behavior of its soft counterpart. While the response of a rigid chiral IRONSperm is distinguished by a greater swimming speed with a smooth decay with frequency, the benefit of a soft flagellum in certain scenarios would present a much smaller range of frequencies for wireless actuation.","PeriodicalId":144730,"journal":{"name":"2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"5 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":"122057336","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

Design and Modeling of a Piezoelectric, Bistable Out-of-Plane Actuator for Micro-Robotic Appendages 微型机器人附件用压电双稳态面外驱动器的设计与建模

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2022-07-25 DOI: 10.1109/MARSS55884.2022.9870473

M. Clad, Choong-Ho Rhee, K. Oldham

引用次数: 0