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Chemotactic behavior and dynamics of bacteria propelled microbeads
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and SystemsFlagellated bacteria have been well understood in regards to its adhesion to surfaces and in swimming propulsion. However, its ability to be used as a source of propulsion for artificial microsystems is of great interest to the micro-robotics community; its high efficiency in converting chemical energy to motion is highly attractive for microsystems that demand a low payload and high rate of actuation. In this paper, we describe the ...Conference Paper -
Free Flight Simulations and Pitch and Roll Control Experiments of a Sub-gram Flapping-Flight Micro Aerial Vehicle
(2011)2011 IEEE International Conference on Robotics and AutomationFlapping-flight micro aerial vehicles (MAVs) pose an ongoing design problem to the scientific community, requiring careful consideration of both body structure and force production. Here, we examine a flapping MAV prototype with a passively rotating wing design. While at the current scale the lift force produced is not enough for liftoff, observing its performance under roll and pitch control can lead to insights on both the body design ...Conference Paper -
Control of Multiple Heterogeneous Magnetic Micro-Robots on Non-Specialized Surfaces
(2011)2011 IEEE International Conference on Robotics and AutomationIn this work, we develop methods for controlling multiple untethered magnetic micro-robots (called Mag-μBots), with all dimensions under 1 mm, without the need for a specialized surface. We investigate sets of Mag-μBots that are geometrically and magnetically designed to respond uniquely to the same magnetic fields. The responses of geometrically dissimilar Mag-μBots with similar magnetization and a group of identically-fabricated Mag-μBots ...Conference Paper -
Manufacturing of two and three-dimensional micro/nanostructures by integrating optical tweezers with chemical assembly
(2003)2003 Third IEEE Conference on Nanotechnology (IEEE-NANO 2003)Optical tweezers have been used as versatile tools for non-contact manipulation of micrometer-sized particles. This paper proposes a hybrid micro/nanoscale manufacturing system using optical tweezers and chemical linkages for fabricating 2D and 3D micro/nanostructures. A holographic multiple trap optical tweezer system is first used to trap particles in a desired pattern. The particles are then connected to form rigid units using suitable ...Conference Paper -
Design and Analysis of a Magnetically Actuated and Compliant Capsule Endoscopic Robot
(2011)2011 IEEE International Conference on Robotics and AutomationIn this paper, we propose a compliant and tetherless magnetic capsule endoscopic robot. The proposed capsule robot has two key features. First, it has one extra degree of freedom axial contraction capability to perform additional tasks such as a drug releasing, a drug injection, or a biopsy. Also, design features of the magnetically deformed capsule robot are introduced. Its characteristic deformation curve, which was measured using an ...Conference Paper -
Synthetic gecko foot-hair micro/nano-structures for future wall-climbing robots
(2003)2003 IEEE International Conference on Robotics and AutomationThis paper proposes techniques to fabricate synthetic gecko foot-hairs for future wall-climbing robots, and models for understanding the synthetic hair design issues. Two nanomolding fabrication techniques are proposed: the first method uses nanoprobe indented flat wax surface and the second one uses a nano-pore membrane as a template. These templates are molded with silicone rubber, polyimide, etc. type of polymer under vacuum. Next, ...Conference Paper -
Towards flapping wing control for a micromechanical flying insect
(2001)Proceedings of the 2001 IEEE International Conference on Robotics & Automation (ICRA)Considers a 2 DOF resonant thorax structure signed and fabricated for the MFI project. Miniature piezoelectric PZN-PT unimorph actuators were fabricated and used to drive a four-bar transmission mechanism. The current thorax design utilizes two actuated four-bars and a spherical joint to drive a rigid wing. Rotationally compliant flexure joints have been tested with lifetimes over 10/sup 6/ cycles. Wing spars were instrumented with strain ...Conference Paper -
Visual tracking for moving multiple objects: an integration of vision and control
(1995)1995 Proceedings of the IEEE International Symposium on Industrial ElectronicsThis paper addresses the use of a vision sensor in the feedback loop for tracking an object which is selected from multiple objects that are unknown and randomly moving on a conveyor belt. For achieving such a tracking task, a position-based visual tracking system is proposed. This system has a visual processing part in which multiple objects are segmented. Here, the authors address the segmentation problem as a clustering problem. In its ...Conference Paper -
2-D micro particle assembly using atomic force microscope
(1998)MHS'98: Proceedings of the 1998 International Symposium on Micromechatronics and Human ScienceA micro particle manipulation system using atomic force microscope (AFM) as the manipulator has been proposed. The size of the particles to be manipulated are approximately 1-2 /spl mu/m. Optical microscope (OM) is utilized as the vision sensor, and AFM cantilever behaves also as a force sensor which enables contact point detection and surface alignment sensing. A 2D OM real-time image feedback constitutes the main user interface of the ...Conference Paper -
Challenge to micro/nanomanipulation using atomic force microscope
(1999)MHS'99: Proceedings of the 1999 International Symposium on Micro Machine and Human ScienceWith the improving micro/nanotechnologies recently, micro/nanomanipulation technology has also become indispensable where such technology is in its early infancy. Thus, this presentation focuses on using Atomic Force Microscope (AFM) as a promising sensory robotic tool for challenging micro/nanomanipulation applications. AFM probe is proposed to be utilized as a mechanically contact pushing manipulator, and force and topology sensor. The ...Conference Paper