Related papers: Developing Micro DC-Brushless Motor Driver and Pos…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
Deformable Mirrors (DMs) have wide applications ranging from astronomical imaging to laser communications and vision science. However, they often require bulky multi-channel cables for delivering high power to their drive actuators. A low…
Acoustical tweezers open major prospects in microbiology for cells and microorganisms contactless manipulation, organization and mechanical properties testing since they are biocompatible, label-free and can exert forces several orders of…
Building intelligent autonomous systems at any scale is challenging. The sensing and computation constraints of a microrobot platform make the problems harder. We present improvements to learning-based methods for on-board learning of…
Bio-inspired sensorimotor control systems may be appealing to roboticists who try to solve problems of multiDOF humanoids and human-robot interactions. This paper presents a simple posture control concept from neuroscience, called…
Micro DC brushed motors are widely deployed in battery-powered biomedical systems, where limited energy budgets and variable physiological loading impose stringent efficiency and safety constraints. However, conventional actuation…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
Collective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Lack of…
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This work presents a vision-guided control…
Beam alignment enables efficient, stable transmission and control of optical energy and information, which critically depend on precise monitoring and regulation of the three-dimensional (3D) relative positioning between fibers. This study…
This chapter describes the basic design, simulation, and fabrication for fully Si integrated, waveguide coupled, optomechanical force and displacement sensors. The approach of full Si integration of all stationary nanophotonic components…
Brain-computer interfaces (BCI) have the potential to provide transformative control in prosthetics, assistive technologies (wheelchairs), robotics, and human-computer interfaces. While Motor Imagery (MI) offers an intuitive approach to BCI…
Fiber-fed spectrographs dedicated to observing massive portions of the sky are increasingly being more demanded within the astronomical community. For all the fiber-fed instruments, the primordial and common problem is the positioning of…
We present Scratchy---a modular, lightweight robot built for low budget competition attendances. Its base is mainly built with standard 4040 aluminium profiles and the robot is driven by four mecanum wheels on brushless DC motors. In…
This paper contains a thorough investigation of the performance of electrically activated layered soft dielectric composite actuators under plane deformation. Noting that the activation can be induced controlling either the voltage or the…
Building the optical setup for investigating biological questions comes with challenges. A major such challenge is setting up and synchronizing the control of multiple hardware components such as stages, cameras and lasers. With UC2-ESP we…
In this paper, we introduce a decentralized optimization-based density controller designed to enforce set invariance constraints in multi-robot systems. By designing a decentralized control barrier function, we derived sufficient conditions…
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…
In automotive power electronics, distortion and electromagnetic interference (EMI) generated by the switching action of power semiconductors can be a significant challenge for the design of a compact, lightweight vehicle. As semiconductor…