A. Barbot, F. Ortiz, A. Bolopion, M. Gauthier, P. Lambert
{"title":"在微型机器人中利用液体表面张力","authors":"A. Barbot, F. Ortiz, A. Bolopion, M. Gauthier, P. Lambert","doi":"10.1146/annurev-control-062422-102559","DOIUrl":null,"url":null,"abstract":"Surface tension effects are known to be dominant at the submillimeter scale. Within this context, the literature has extensively described the underlying physics (e.g., surface tension, wetting, surface texturation, and coatings), and capillary forces have been exploited in a variety of applications (e.g., capillary picking, self-alignment, capillary sealing, and capillary bearings). As several stimuli can be used to control liquid menisci, these forces have been used mainly in microrobotics in open loop (i.e., without real-time feedback). However, at least two major sources of uncertainty hinder these forces from working properly in open loop: the variability due to contact-angle hysteresis (the difference between wetting and unwetting) and the variability in the involved volume of liquid. To be able to reject these disturbances, successful sensor integration and associated advanced control schemes need to be embedded in capillary microrobotic microsystems. This article analyzes research contributions in this field from three different perspectives: the stimulus action of the surface tension effect (light, B-field, etc.), the application field (actuation, picking, sealing, etc.), and the sensing and control schemes. Technologically complex developments coexist with elegant and straightforward engineering solutions. Biological aspects of surface tension are not included in this review. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":"89 1","pages":""},"PeriodicalIF":11.2000,"publicationDate":"2022-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Exploiting Liquid Surface Tension in Microrobotics\",\"authors\":\"A. Barbot, F. Ortiz, A. Bolopion, M. Gauthier, P. Lambert\",\"doi\":\"10.1146/annurev-control-062422-102559\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Surface tension effects are known to be dominant at the submillimeter scale. Within this context, the literature has extensively described the underlying physics (e.g., surface tension, wetting, surface texturation, and coatings), and capillary forces have been exploited in a variety of applications (e.g., capillary picking, self-alignment, capillary sealing, and capillary bearings). As several stimuli can be used to control liquid menisci, these forces have been used mainly in microrobotics in open loop (i.e., without real-time feedback). However, at least two major sources of uncertainty hinder these forces from working properly in open loop: the variability due to contact-angle hysteresis (the difference between wetting and unwetting) and the variability in the involved volume of liquid. To be able to reject these disturbances, successful sensor integration and associated advanced control schemes need to be embedded in capillary microrobotic microsystems. This article analyzes research contributions in this field from three different perspectives: the stimulus action of the surface tension effect (light, B-field, etc.), the application field (actuation, picking, sealing, etc.), and the sensing and control schemes. Technologically complex developments coexist with elegant and straightforward engineering solutions. Biological aspects of surface tension are not included in this review. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. 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Exploiting Liquid Surface Tension in Microrobotics
Surface tension effects are known to be dominant at the submillimeter scale. Within this context, the literature has extensively described the underlying physics (e.g., surface tension, wetting, surface texturation, and coatings), and capillary forces have been exploited in a variety of applications (e.g., capillary picking, self-alignment, capillary sealing, and capillary bearings). As several stimuli can be used to control liquid menisci, these forces have been used mainly in microrobotics in open loop (i.e., without real-time feedback). However, at least two major sources of uncertainty hinder these forces from working properly in open loop: the variability due to contact-angle hysteresis (the difference between wetting and unwetting) and the variability in the involved volume of liquid. To be able to reject these disturbances, successful sensor integration and associated advanced control schemes need to be embedded in capillary microrobotic microsystems. This article analyzes research contributions in this field from three different perspectives: the stimulus action of the surface tension effect (light, B-field, etc.), the application field (actuation, picking, sealing, etc.), and the sensing and control schemes. Technologically complex developments coexist with elegant and straightforward engineering solutions. Biological aspects of surface tension are not included in this review. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.
期刊介绍:
The Annual Review of Control, Robotics, and Autonomous Systems offers comprehensive reviews on theoretical and applied developments influencing autonomous and semiautonomous systems engineering. Major areas covered include control, robotics, mechanics, optimization, communication, information theory, machine learning, computing, and signal processing. The journal extends its reach beyond engineering to intersect with fields like biology, neuroscience, and human behavioral sciences. The current volume has transitioned to open access through the Subscribe to Open program, with all articles published under a CC BY license.