Header logo is


2016


Thumb xl 07759726
Steering control of a water-running robot using an active tail

Kim, H., Jeong, K., Sitti, M., Seo, T.

In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages: 4945-4950, October 2016 (inproceedings)

Abstract
Many highly dynamic novel mobile robots have been developed being inspired by animals. In this study, we are inspired by a basilisk lizard's ability to run and steer on water surface for a hexapedal robot. The robot has an active tail with a circular plate, which the robot rotates to steer on water. We dynamically modeled the platform and conducted simulations and experiments on steering locomotion with a bang-bang controller. The robot can steer on water by rotating the tail, and the controlled steering locomotion is stable. The dynamic modelling approximates the robot's steering locomotion and the trends of the simulations and experiments are similar, although there are errors between the desired and actual angles. The robot's maneuverability on water can be improved through further research.

pi

DOI [BibTex]

2016


DOI [BibTex]


Thumb xl 07523675
Targeting of cell mockups using sperm-shaped microrobots in vitro

Khalil, I. S., Tabak, A. F., Hosney, A., Klingner, A., Shalaby, M., Abdel-Kader, R. M., Serry, M., Sitti, M.

In Biomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on, pages: 495-501, July 2016 (inproceedings)

Abstract
Sperm-shaped microrobots are controlled under the influence of weak oscillating magnetic fields (milliTesla range) to selectively target cell mockups (i.e., gas bubbles with average diameter of 200 μm). The sperm-shaped microrobots are fabricated by electrospinning using a solution of polystyrene, dimethylformamide, and iron oxide nanoparticles. These nanoparticles are concentrated within the head of the microrobot, and hence enable directional control along external magnetic fields. The magnetic dipole moment of the microrobot is characterized (using the flip-time technique) to be 1.4×10-11 A.m2, at magnetic field of 28 mT. In addition, the morphology of the microrobot is characterized using Scanning Electron Microscopy images. The characterized parameters and morphology are used in the simulation of the locomotion mechanism of the microrobot to prove that its motion depends on breaking the time-reversal symmetry, rather than pulling with the magnetic field gradient. We experimentally demonstrate that the microrobot can controllably follow S-shaped, U-shaped, and square paths, and selectively target the cell mockups using image guidance and under the influence of the oscillating magnetic fields.

pi

DOI [BibTex]

DOI [BibTex]


Thumb xl image toc
Analysis of the magnetic torque on a tilted permanent magnet for drug delivery in capsule robots

Munoz, F., Alici, G., Zhou, H., Li, W., Sitti, M.

In Advanced Intelligent Mechatronics (AIM), 2016 IEEE International Conference on, pages: 1386-1391, July 2016 (inproceedings)

Abstract
In this paper, we present the analysis of the torque transmitted to a tilted permanent magnet that is to be embedded in a capsule robot to achieve targeted drug delivery. This analysis is carried out by using an analytical model and experimental results for a small cubic permanent magnet that is driven by an external magnetic system made of an array of arc-shaped permanent magnets (ASMs). Our experimental results, which are in agreement with the analytical results, show that the cubic permanent magnet can safely be actuated for inclinations lower than 75° without having to make positional adjustments in the external magnetic system. We have found that with further inclinations, the cubic permanent magnet to be embedded in a drug delivery mechanism may stall. When it stalls, the external magnetic system's position and orientation would have to be adjusted to actuate the cubic permanent magnet and the drug release mechanism. This analysis of the transmitted torque is helpful for the development of real-time control strategies for magnetically articulated devices.

pi

DOI [BibTex]

DOI [BibTex]


Thumb xl 07487340
Sperm-shaped magnetic microrobots: Fabrication using electrospinning, modeling, and characterization

Khalil, I. S., Tabak, A. F., Hosney, A., Mohamed, A., Klingner, A., Ghoneima, M., Sitti, M.

In Robotics and Automation (ICRA), 2016 IEEE International Conference on, pages: 1939-1944, May 2016 (inproceedings)

Abstract
We use electrospinning to fabricate sperm-shaped magnetic microrobots with a range of diameters from 50 μm to 500 μm. The variables of the electrospinning operation (voltage, concentration of the solution, dynamic viscosity, and distance between the syringe needle and collector) to achieve beading effect are determined. This beading effect allows us to fabricate microrobots with similar morphology to that of sperm cells. The bead and the ultra-fine fiber resemble the morphology of the head and tail of the sperm cell, respectively. We incorporate iron oxide nanoparticles to the head of the sperm-shaped microrobot to provide a magnetic dipole moment. This dipole enables directional control under the influence of external magnetic fields. We also apply weak (less than 2 mT) oscillating magnetic fields to exert a magnetic torque on the magnetic head, and generate planar flagellar waves and flagellated swim. The average speed of the sperm-shaped microrobot is calculated to be 0.5 body lengths per second and 1 body lengths per second at frequencies of 5 Hz and 10 Hz, respectively. We also develop a model of the microrobot using elastohydrodynamics approach and Timoshenko-Rayleigh beam theory, and find good agreement with the experimental results.

pi

DOI [BibTex]

DOI [BibTex]

2012


no image
Topological optimization for continuum compliant mechanisms via morphological evolution of traditional mechanisms

Lum, GZ, Yeo, SH, Yang, GL, Teo, TJ, Sitti, M

In 4th International Conference on Computational Methods, pages: 8, 2012 (inproceedings)

pi

[BibTex]

2012


[BibTex]


no image
Flapping Wings with DC-Motors via Direct, Elastic Transmissions

Azhar, M., Campolo, D., Lau, G., Sitti, M.

In Proceedings of International Conference on Intelligent Unmanned Systems, 8, 2012 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Investigation of bioinspired gecko fibers to improve adhesion of HeartLander surgical robot

Tortora, G., Glass, P., Wood, N., Aksak, B., Menciassi, A., Sitti, M., Riviere, C.

In Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE, pages: 908-911, 2012 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Magnetic hysteresis for multi-state addressable magnetic microrobotic control

Diller, E., Miyashita, S., Sitti, M.

In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pages: 2325-2331, 2012 (inproceedings)

pi

[BibTex]

[BibTex]

2010


no image
Adhesion recovery and passive peeling in a wall climbing robot using adhesives

Kute, C., Murphy, M. P., Mengüç, Y., Sitti, M.

In Robotics and Automation (ICRA), 2010 IEEE International Conference on, pages: 2797-2802, 2010 (inproceedings)

pi

[BibTex]

2010


[BibTex]


no image
Comparison of linear and nonlinear buck converter models with varying compensator gain values for design optimization

Sattler, Michael, Lui, Yusi, Edrington, Chris S

In North American Power Symposium (NAPS), 2010, pages: 1-7, 2010 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Enhancing the performance of Bio-inspired adhesives

Chung, H., Glass, P., Sitti, M., Washburn, N. R.

In ABSTRACTS OF PAPERS OF THE AMERICAN CHEMICAL SOCIETY, 240, 2010 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Control performance simulation in the design of a flapping wing micro-aerial vehicle

Hines, L. L., Arabagi, V., Sitti, M.

In Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pages: 1090-1095, 2010 (inproceedings)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Surface tension driven water strider robot using circular footpads

Ozcan, O., Wang, H., Taylor, J. D., Sitti, M.

In Robotics and Automation (ICRA), 2010 IEEE International Conference on, pages: 3799-3804, 2010 (inproceedings)

pi

[BibTex]

[BibTex]

2002


no image
Nanomolding based fabrication of synthetic gecko foot-hairs

Sitti, M., Fearing, R. S.

In Nanotechnology, 2002. IEEE-NANO 2002. Proceedings of the 2002 2nd IEEE Conference on, pages: 137-140, 2002 (inproceedings)

pi

Project Page [BibTex]

2002


Project Page [BibTex]