相关论文: Closed-loop Control of Catalytic Janus Microrobots
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
An optimal control strategy is developed to construct nanostructures of desired geometry along line segments by means of directed self-assembly of charged particles. Such a control strategy determines the electric potentials of a set of…
We propose an approach to entangle spins of electrons floating on liquid helium by coherently manipulating their spin-orbit interactions. The configuration consists of single electrons, confined individually on liquid helium by the…
This paper presents a contact-based micromanipulation system for the alignment and installment of microscale magnets into micro robots and devices. Affixing tweezers to a three degree of freedom micromanipulator allows for precise movement…
We propose a spin-mechanical device to control and detect spin currents by mechanical torque. Our hybrid nano-electro-mechanical device, which contains a nanowire with a ferromagnetic-nonmagnetic interface, is designed to measure or induce…
We describe the construction of a motorized optical rotation mount with a 40 mm clear aperture. The device is used to remotely control the power of large diameter laser beams for a magneto-optical trap (MOT). A piezo-electric ultrasonic…
With an eye towards next-generation, smart, micro/nanofluidic devices, capable of responding to external stimuli or changes in environment, we demonstrate a means to achieve dynamic control of the spatio-temporal properties of the electric…
Externally powered magnetic nanomotors are of particular interest due to the potential use for \emph{in vivo} biomedical applications. Here we develop a theory for dynamics and polarization of recently fabricated superparamagnetic chiral…
Janus particles with the ability to move phoretically in self-generated chemical concentration gradients are model systems for active matter. Their motion typically consists of straight paths with rotational diffusion being the dominant…
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However,…
Achieving closed-loop control over wireless is crucial in realizing the vision of Industry 4.0 and beyond. This demonstration shows the viability of closed-loop control over wireless through a high-performance wireless solution. The…
We numerically investigate the escape kinetics of elliptic Janus particles from narrow two-dimensional cavities with reflecting walls. The self-propulsion velocity of the Janus particle is directed along either their major (prolate) or…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
Microelectromechanical systems, which can be moved or rotated with nanometre precision, already find applications in such fields like radio-frequency electronics, micro-attenuators, sensors and many others. Especially interesting are those…
This paper presents an autonomous parking control strategy for an active-joint center-articulated mobile robot. We first derive a kinematic model of the robot, then propose a control law to stabilize the vehicle's configuration within a…
The use of active colloids for cargo transport offers unique potential for applications ranging from targeted drug delivery to lab-on-a-chip systems. Previously, Janus particles (JPs), acting as mobile microelectrodes have been shown to…
In this Letter we show how a single beam optical trap offers the means for three-dimensional manipulation of semiconductor nanorods in solution. Furthermore rotation of the direction of the electric field provides control over the…
We study entanglement of the motional degrees of freedom of two tethered and optically trapped microdisks inside a single cavity. By properly choosing the position of the trapped objects in the optical cavity and driving proper modes of the…
Modulation of magnetic properties through voltage-driven ion motion and redox processes, i.e., magneto-ionics, is a unique approach to control magnetism with electric field for low-power memory and spintronic applications. So far,…