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This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…
Chemical control of the spontaneous motion of a reactive oil droplet moving on a glass substrate under an aqueous phase is reported. Experimental results show that the self-motion of an oil droplet is confined on an acid-treated glass…
This paper provides an overview of evolutionary robotics techniques applied to on-line distributed evolution for robot collectives -- namely, embodied evolution. It provides a definition of embodied evolution as well as a thorough…
Droplets, sub-millilitre liquid volumes with at least one interface, have traditionally served as compartments for storing, transporting, and delivering materials. Beyond familiar applications in food, coatings, and consumer goods, they…
This work introduces a novel technique for fabricating functional robots using 3D printers. Simultaneously depositing photopolymers and a non-curing liquid allows complex, pre-filled fluidic channels to be fabricated. This new printing…
Robotic reproduction of oil paintings using soft brushes and pigments requires force-sensitive control of deformable tools, prediction of brushstroke effects, and multi-step stroke planning, often without human step-by-step demonstrations…
We have used convolutional neural network in a classification task to track the radius evolution of levitating evaporating microdroplets of pure diethylene glycol, diethylene glycol water polystyrene microparticles suspension, dipropylene…
In marine environments, microscopic droplets of spilled oil can be transported over tens or hundreds kilometers in the water column. As this oil is biodegraded, growing bacteria on the droplets' surface can deform the oil-water interface to…
We consider a three-dimensional network of aqueous droplets joined by single lipid bilayers to form a cohesive, tissue-like material. The droplets in these networks can be programmed to have distinct osmolarities so that osmotic gradients…
We study the mathematical evolution of a liquid fuel droplet inside a vessel. In particular, we analyze the evolution of the droplet radius on a finite time interval. The model problem involves an hyperbolic system coupled with the pressure…
The COMPARE Ecosystem aims to improve the compatibility and benchmarking of open-source products for robot manipulation through a series of activities. One such activity is the development of standards and guidelines to specify…
This paper outlines a numerical algorithm that could be used for simulating full 3D dynamics of magnetic fluid droplet shapes in external magnetic fields, by solving boundary integral equations. The algorithm works with arbitrary droplet…
Shear-induced droplet formation is important in many industrial applications, primarily focusing on droplet sizes and pinch-off frequency. We propose a one-dimensional mathematical model that describes the effect of shear forces on the…
We present a deep learning-based object detection and object tracking algorithm to study droplet motion in dense microfluidic emulsions. The deep learning procedure is shown to correctly predict the droplets' shape and track their motion at…
Droplet formation in a system of two or more immiscible fluids is a celebrated topic of research in the fluid mechanics community. In this work, we propose an innovative phenomenon where oil when injected drop-wise into a pool of water…
The growing demand for new microelectronic devices and pharmaceutical advancements has heightened interest in inkjet printing as a means of high-precision manufacturing technique. This study leverages data-driven analyses to optimize…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
Self-encapsulated droplets floating at an oil--air interface undergo striking shape changes during evaporation, including flattening and localized loss of membrane tension leading to crumpling and wrinkling. Here we combine experiments,…
When processing dense emulsions, complex flows stretch and deform droplets to the point of breakup, changing the droplet size distribution and the mechanical properties of the final product. For steady homogeneous flows, a droplet's shape…
Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work,…