相关论文: Developing Micro DC-Brushless Motor Driver and Pos…

In most macro-scale robotics systems , propulsion and controls are enabled through a physical tether or complex on-board electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while…

Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we propose DECO, a decoupled multimodal diffusion transformer…

The Dark Energy Spectroscopic Instrument (DESI) is under construction to measure the expansion history of the universe using the Baryon Acoustic Oscillation (BAO) technique. The spectra of 35 million galaxies and quasars over $14000…

In this paper we present a Deformable Mirror (DM) based on the continuous voltage distribution over a resistive layer. This DM can correct the low order aberrations (defocus, astigmatism, coma and spherical aberration) using three…

Dedicated accelerometers have been developed for the MICROSCOPE mission taking into account the specific range of acceleration to be measured on board the satellite. Considering one micro-g and even less as the full range of the instrument,…

Microscale manipulation has advanced substantially in controlled locomotion and targeted transport, yet many biomedical applications require precise and adaptive interaction with biological micro-objects. At these scales, manipulation is…

This paper articulates design and performance analysis of digital controllers in discrete and continuous time domains for a single-joint robot arm manipulator. The investigated robot arm system is modeled as a single degree of freedom (DOF)…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the robot to interact with an unstructured and unknown…

The electrokinetic effect of dielectrophoresis is a promising way of inducing forces and torques on a broad class of polarizable objects at micro- and mesoscale. We introduce a non-contact micro-manipulation technique based on this…

Many real-world systems are governed by the time-dependent, nonlinear differential equations. Dynamics of an electrical system are also best described using the very equations. Being one of the preferred machines when using advanced control…

Silicon-based photonic biosensors, such as microring resonators and Mach-Zehnder interferometers, offer significant potential for the detection of analytes at low concentrations. To enhance response time and improve the limit of detection…

Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to…

To develop active materials that can efficiently respond to external stimuli with designed mechanical motions is one of the major obstacles that have hindered the realization of nanomachines and nanorobots. Here, we propose an innovative…

In this paper we present control strategies for implementing reconfigurable planar microassmbly using multiple stress-engineered MEMS microrobots (MicroStressBots). A MicroStressBot is an electrostatic microrobot that consists of an…

In this paper, we characterize the performance of and develop thermal management solutions for a DC motor-driven resonant actuator developed for flapping wing micro air vehicles. The actuator, a DC micro-gearmotor connected in parallel with…

Maintaining stable and precise alignment of a laser beam is crucial in many optical setups. In this work, we present a microcontroller-based rapid auto-alignment system that detects and corrects for drifts in a laser beam trajectory using a…

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…

To achieve real-world functionality, robots must have the ability to carry out decision-making computations. However, soft robots stretch and therefore need a solution other than rigid computers. Examples of embedding computing capacity…

Electrostatic actuators provide a promising approach to creating soft robotic sheets, due to their flexible form factor, modular integration, and fast response speed. However, their control requires kilo-Volt signals and understanding of…

This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…