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Enhanced Non-Steady Gliding Performance of the MultiMo-Bat through Optimal Airfoil Configuration and Control Strategy
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Many robots make use of gravitational potential energy, generated by another mode, to enhance mobility through gliding locomotion. However, unstructured environments can create situations in which the initial conditions for steady-state gliding cannot be achieved; for example, jumping out of a hole, where the obstacle is very close to the robot. This paper suggests an optimization methodology for finding airfoil configurations and control ...Conference Paper -
Endo-VMFuseNet: A Deep Visual-Magnetic Sensor Fusion Approach for Endoscopic Capsule Robots
(2018)2018 IEEE International Conference on Robotics and Automation (ICRA)In the last decade, researchers and medical device companies have made major advances towards transforming passive capsule endoscopes into active medical robots. One of the major challenges is to endow capsule robots with accurate perception of the environment inside the human body, which will provide necessary information and enable improved medical procedures. We extend the success of deep learning approaches from various research fields ...Conference Paper -
Three-Dimensional Robotic Manipulation and Transport of Micro-Scale Objects by a Magnetically Driven Capillary Micro-Gripper
(2014)2014 IEEE International Conference on Robotics and Automation (ICRA)One major challenge for untethered micro-scale mobile robotics is the manipulation of external objects in the robot's three-dimensional (3D) work environment. Here, we present a method to use the capillary force at a solid-liquid-gas interface to reversibly attach objects to a mobile magnetic microrobot. This is accomplished by the addition of a cavity in the hydrophobic microrobot, in which an air bubble is captured when the microrobot ...Conference Paper -
Steering Control of a Water-Running Robot Using an Active Tail
(2016)2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Many highly dynamic novel mobile robots have been developed being inspired by animals. In this study, we are inspired by a basilisk lizard's ability to run and steer on water surface for a hexapedal robot. The robot has an active tail with a circular plate, which the robot rotates to steer on water. We dynamically modeled the platform and conducted simulations and experiments on steering locomotion with a bang-bang controller. The robot ...Conference Paper -
Under-Actuated Tank-Like Climbing Robot With Various Transitioning Capabilities
(2011)2011 IEEE International Conference on Robotics and AutomationThis paper presents a modular climbing robot connected by two passive compliant joints and featuring an active tail. The objective of this robot is to enable various internal and external transitions which are very challenging tasks for previously developed climbing robots. Realizing the transitions by an using under-actuated system without complex control is another contribution of this research. The robot is driven using a tread-wheel ...Conference Paper -
Design of a Miniature Integrated Multi-Modal Jumping and Gliding Robot
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and SystemsThis paper presents the design of a biologically inspired miniature integrated jumping and gliding robot capable of jumping heights of greater than 6 meters with a total weight of less than 100 grams. The robot is composed of two four-bar mechanisms that provide the structure for both jumping and gliding. The robot is highly integrated utilizing approximately 80% of the system mass for the jumping mode and 67% for the gliding mode. The ...Conference Paper -
The Lateral Resolution of the near-tip scanning electron microscopy
(2012)Bulletin SPG/SSPConference Paper -
Improving the Detection and the Analysis of Energy Filtered and Spin Polarised Electrons with the implementation of a Miniature Energy Analyser
(2020)2020 33rd International Vacuum Nanoelectronics Conference (IVNC)With the aim of improving detection and analysis of energy filtered electrons in the Scanning Field-Emission Microscope (SFEM) and of the spin polarised electrons in the SFEM with Polarisation Analysis (SFEMPA) tests are performed on a miniature electron detection unit employing a Bessel Box energy analyser. Even in conventional electron microscopes, the detection of low-energy electrons (with kinetic energies of the order of 100eV or ...Conference Paper -
Low-temperature scanning field emission microscope with polarization analysis
(2020)2020 33rd International Vacuum Nanoelectronics Conference (IVNC)The design of the low-temperature scanning probe microscope, which works in field emission regime with spin polarization analysis, is proposed. A performance at temperature of 77 K has been achieved. The first result of STM imaging with atomic resolution is demonstrated. © 2020 IEEE.Conference Paper -
Detecting the topographic, chemical, and magnetic contrast at surfaces with nm spatial resolution
(2014)Technical Digest of the 27th International Vacuum Nanoelectronics ConferenceConference Paper