相关论文: Closed-loop Control of Catalytic Janus Microrobots

Field oriented control of permanent magnet synchronous motor drives involves the closed-loop regulation of currents in the synchronous reference frame. The current feedback is directly affected by errors in both position and stationary…

Electromagnetic navigation systems (eMNS) are increasingly used in minimally invasive procedures such as endovascular interventions and targeted drug delivery due to their ability to generate fast and precise magnetic fields. In this paper,…

The engineering space for magnetically manipulated biomedical microrobots is rapidly expanding. This includes synthetic, bioinspired, and biohybrid designs, some of which may eventually assume clinical roles aiding drug delivery or…

Magnetic microrobots that swim through liquid media are of interest for minimally invasive medical procedures, bioengineering, and manufacturing. Many of the envisaged applications, such as micromanipulation and targeted cargo delivery,…

We theoretically show how the spin orientation of a single magnetic adatom can be controlled by spin polarized electrons in a scanning tunneling microscope configuration. The underlying physical mechanism is spin assisted inelastic…

Shuttling ions at high speed and with low motional excitation is essential for realizing fast and high-fidelity algorithms in many trapped-ion based quantum computing architectures. Achieving such performance is challenging due to the…

Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…

An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…

Small composite objects, known as Janus particles, drive sustained scientific interest primarily targeted at biomedical applications, where such objects act as micro- or nanoscale actuators, carriers, or imaging agents. The major practical…

The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…

We study the self-diffusiophoresis of a spherical chemically active particle near a planar, impermeable wall, with a focus on the influence of particle orientation on propulsion. We analyze a Janus particle with asymmetric surface chemical…

This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type…

In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…

Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…

Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…

The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…

We numerically study the escape kinetics of a self-propelled Janus particle, carrying a cargo, from a meta-stable state. We assume that the cargo is attached to the Janus particle by a flexible harmonic spring. We take into account the…

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…

Achieving control over the directionality of active colloids is essential for their use in practical applications such as cargo carriers in microfluidic devices. So far, guidance of spherical Janus colloids was mainly realized using…

This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…