Related papers: Efficient Optimization of a Permanent Magnet Array…
Microfluidic trapping arrays have proven to be efficient tools for various applications that require working at the single-cell level, such as cell-cell communication or fusion. Although several hydrodynamic trapping devices have already…
This work focuses on the robust optimization of a permanent magnet (PM) synchronous machine while considering a driving cycle. The robustification is obtained by considering uncertainties of different origins. Firstly, there are geometrical…
This paper focuses on the optimal design of a tendon-driven continuum robot (TDCR) based on its feasible static workspace (FSW). The TDCR under consideration is a two-segment robot driven by eight tendons, with four tendon actuators per…
The advent of 3D printing has revolutionized many industries and has had similar improvements for soft robots. However, many challenges persist for these functional devices. Magnetic soft robots require the addition of magnetic particles…
Topology optimization offers great opportunities to design permanent magnetic systems that have specific external field characteristics. Additive manufacturing of polymer bonded magnets with an end-user 3D printer can be used to manufacture…
While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…
We demonstrate single-atom trapping in two-dimensional arrays of microtraps with arbitrary geometries. We generate the arrays using a Spatial Light Modulator (SLM), with which we imprint an appropriate phase pattern on an optical dipole…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
Targeted drug delivery in the gastrointestinal (GI) tract using magnetic robots offers a promising alternative to systemic treatments. However, controlling these robots is a major challenge. Stationary magnetic systems have a limited…
In this study, a new approach based on adaptive dynamic programming (ADP) is proposed to control permanent magnet synchronous motors (PMSMs). The objective of this paper is to control the torque and consequently the speed of a PMSM when an…
The recent advancements in nanoscale 3D printing and microfabrication techniques have reinvigorated research on microrobots. However, precise motion control of the microrobots on biological environments using compact actuation setups…
In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effective magnetic direction and intensity, introducing steering…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
Microelectromagnet devices, a ring trap and a matrix, were developed for the microscopic control of biological systems. The ring trap is a circular Au wire with an insulator on top. The matrix has two arrays of straight Au wires, one array…
In this paper two formulations for the robust optimization of the size of the permanent magnet in a synchronous machine are discussed. The optimization is constrained by a partial differential equation to describe the electromagnetic…
A soft ferromagnetic plate uniformizes Tesla-level fields generated by attached permanent magnets, producing a smooth and electronically tunable surface field on the opposite side. By arranging $n$ precisely fabricated rectangular plates, a…
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…
Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…
To detach a permanent magnet with a controlled force much smaller than its original attractive force, the Internally-Balanced Magnetic Unit (IB Magnet) was invented and has been applied to magnetic devices such as wall-climbing robots,…