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

In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…

We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary…

Electromagnetic systems have been used extensively for the control magnetically actuated objects, such as in microrheology and microrobotics research. Therefore, optimizing the design of such systems is highly desired. Some of the features…

The generation of controlled microstructures of functionalized nanoparticles has been one of the crucial challenges in nanoscience and nanotechnology. Efforts have been made to tune ligand charge states that can affect the aggregation…

Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…

In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…

Despite the promise of magnetically actuated miniature helical robots for minimally invasive interventions, state-of-the-art electromagnetic actuation systems are often space-inefficient and geometrically fixed. These constraints hinder…

Optical forces - studied since the earliest days of laser physics - continue to reveal rich dynamics and enable powerful tools for manipulation of objects on micro- and nanoscales, and even individual atoms. Lateral optical forces, which…

Platinum-coated polystyrene Janus particles exhibit a combination of stochastic and deterministic motion in hydrogen peroxide solutions, making them promising candidates for applications in micro-scale cargo transport, drug delivery, and…

Externally controlled motion of micro and nanomotors in a fluid environment constitutes a promising tool in biosensing, targeted delivery and environmental remediation. In particular, recent experiments have demonstrated that fuel-free…

Manipulation of particles by a uniform electric field, known as electrophoresis, is used in a wide array of applications. Of especial interest is electrophoresis driven by an alternating current (AC) as it eliminates electrode blocking and…

Magnetic navigation offers wireless control over magnetic objects, which has important medical applications, such as targeted drug delivery and minimally invasive surgery. Magnetic navigation systems are categorized into systems using…

Catalytic engines can use hydrogen peroxide as a chemical fuel in order to drive motion at the microscale. The chemo-mechanical actuation is a complex mechanism based on the interrelation between catalytic reactions and…

Self-balancing robot is based on the principle of Inverted pendulum, which is a two-wheel vehicle balances itself up in the vertical position with reference to the ground. It consists of both hardware and software implementation. Mechanical…

Observing and controlling macroscopic quantum systems has long been a driving force in research on quantum physics. In this endeavor, strong coupling between individual quantum systems and mechanical oscillators is being actively pursued.…

Janus monolayers have long been captivated as a popular notion for breaking in-plane and out-of-plane structural symmetry. Originated from chemistry and materials science, the concept of Janus functions have been recently extended to…

We present a new, high-speed technique to track the three-dimensional translation and rotation of non-spherical colloidal particles. We capture digital holograms of micrometer-scale silica rods and sub-micrometer-scale Janus particles…

We experimentally investigate active motion of spherical Janus colloidal particles in a viscoelastic fluid. Self-propulsion is achieved by a local concentration gradient of a critical polymer mixture which is imposed by laser illumination.…

This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…

Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and legged robots, must also be lightweight to accomplish their…