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2016


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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.

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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.

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DOI [BibTex]

DOI [BibTex]


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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.

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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.

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DOI [BibTex]

DOI [BibTex]


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Statische und dynamische Magnetisierungseigenschaften nanoskaliger Überstrukturen

Gräfe, J.

Universität Stuttgart, Stuttgart (und Cuvillier Verlag, Göttingen), 2016 (phdthesis)

mms

[BibTex]

[BibTex]


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Gepinnte Bahnmomente in magnetischen Heterostrukturen

Audehm, P.

Universität Stuttgart, Stuttgart (und Cuvillier Verlag, Göttingen), 2016 (phdthesis)

mms

[BibTex]

[BibTex]


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Austauschgekoppelte Moden in magnetischen Vortexstrukturen

Dieterle, G.

Universität Stuttgart, Stuttgart, 2016 (phdthesis)

mms

[BibTex]

[BibTex]


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Density matrix calculations for the ultrafast demagnetization after femtosecond laser pulses

Weng, Weikai

Universität Stuttgart, Stuttgart, 2016 (mastersthesis)

mms

[BibTex]

[BibTex]


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Helium und Hydrogen Isotope Adsorption and Separation in Metal-Organic Frameworks

Zaiser, Ingrid

Universität Stuttgart, Stuttgart (und Cuvillier Verlag, Göttingen), 2016 (phdthesis)

mms

[BibTex]

[BibTex]

2005


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Modeling and testing of a biomimetic flagellar propulsion method for microscale biomedical swimming robots

Behkam, B., Sitti, M.

In Proceedings of Advanced Intelligent Mechatronics Conference, pages: 37-42, 2005 (inproceedings)

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Project Page [BibTex]

2005


Project Page [BibTex]


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Biologically inspired adhesion based surface climbing robots

Menon, C., Sitti, M.

In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, pages: 2715-2720, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Claytronics: highly scalable communications, sensing, and actuation networks

Aksak, Burak, Bhat, Preethi Srinivas, Campbell, Jason, DeRosa, Michael, Funiak, Stanislav, Gibbons, Phillip B, Goldstein, Seth Copen, Guestrin, Carlos, Gupta, Ashish, Helfrich, Casey, others

In Proceedings of the 3rd international conference on Embedded networked sensor systems, pages: 299-299, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Untersuchung über die Grenzflächenmagnetisierung an (FM) Kobalt- und (AFM) Eisen-Mangan-Schichten

Harlander, M.

Stuttgart, Universität Stuttgart, 2005 (mastersthesis)

mms

[BibTex]

[BibTex]


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Magnetization reversal behavior of nanogranular CoCrPt alloy thin films studied with magnetic transmission X-ray microscopy

Fischer, P., Im, M., Eimüller, T., Schütz, G., Shin, S.

In 286, pages: 311-314, Boulder, CO, USA, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Biologically Inspired Miniature Water Strider Robot.

Suhr, S. H., Song, Y. S., Lee, S. J., Sitti, M.

In Robotics: Science and Systems, pages: 319-326, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Polymer micro/nanofiber fabrication using micro/nanopipettes

Nain, A. S., Amon, C., Sitti, M.

In Nanotechnology, 2005. 5th IEEE Conference on, pages: 366-369, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Fusion of biomedical microcapsule endoscope and microsystem technology

Kim, Tae Song, Kim, Byungkyu, Cho, Dongil Dan, Song, Si Young, Dario, P, Sitti, M

In Solid-State Sensors, Actuators and Microsystems, 2005. Digest of Technical Papers. TRANSDUCERS’05. The 13th International Conference on, 1, pages: 9-14, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Atomic force microscope based two-dimensional assembly of micro/nanoparticles

Tafazzoli, A., Pawashe, C., Sitti, M.

In Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005.(ISATP 2005). The 6th IEEE International Symposium on, pages: 230-235, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Defects distribution of Pr2Fe14B hard magnetic magnet from amorphous to nanostructures characterized by positron annihilation spectroscopy

Wu, Y. C., Sprengel, W., Reimann, K., Reichle, K. J., Goll, D., Würschum, R., Schaefer, H. E.

In PRICM 5. Proceedings of the Fifth Pacific RIM International Conference on Advanced Materials and Processing, 475-479, pages: 2123-2126, Materials Science Forum, Trans Tech, Beijing, China, 2005 (inproceedings)

mms

[BibTex]

[BibTex]


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Implementing sub-ns time resolution into magnetic X-ray microscopies

Puzic, A., Stoll, H., Fischer, P., Van Waeyenberge, B., Raabe, J., Denbeaux, G., Haug, T., Weiss, D., Schütz, G.

In T115, pages: 1029-1031, Malmö/Lund, Sweden, 2005 (inproceedings)

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[BibTex]

[BibTex]


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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

Cheung, E., Karagozler, M. E., Park, S., Kim, B., Sitti, M.

In Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on, pages: 551-557, 2005 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]

2002


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Pressure Isotherms of Hydrogen Adsorption in Carbon Nanostructures

Chen, X., Dettlaff-Weglikowska, U., Haluska, M., Hulman, M., Roth, S., Hirscher, M., Becher, M.

In Making Functional Materials with Nanotubes, pages: Z9.11.1-Z9.11.6, Materials Research Society Symposium Proceedings, MRS, Boston [Mass.], 2002 (inproceedings)

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[BibTex]

2002


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Untersuchungen zur Spindynamik in nanostrukturierten ferromagnetischen Schichtsystemen

Puzic, A.

Universität Stuttgart, Stuttgart, 2002 (mastersthesis)

mms

[BibTex]

[BibTex]


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Hydrogen Storage in Carbon SWNTs: Atomic or Molecular?

Haluska, M., Hirscher, M., Becher, M., Dettlaff-Weglikowska, U., Chen, X., Roth, S.

In Structural and Electronic Properties of Molecular Nanostructures, pages: 601-605, AIP Conference Proceedings, AIP, Kirchberg, Tirol [Austria], 2002 (inproceedings)

mms

[BibTex]

[BibTex]


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Magnetic Imaging of Nanostructured Systems with Transmission X-Ray Microscopy

Eimüller, T.

Bayrische Julius-Maximilians-Universität Würzburg, Würzburg, 2002 (phdthesis)

mms

[BibTex]

[BibTex]


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Ab-initio Berechnung der Spinwellenspektren von Eisen, Kobalt und Nickel

Grotheer, O.

Universität Stuttgart, Stuttgart, 2002 (phdthesis)

mms

[BibTex]

[BibTex]


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Kernspinresonanzuntersuchungen zur Diffusion von Wasserstoff in kubischen Lavesphasen

Eberle, U.

Universität Stuttgart, Stuttgart, 2002 (phdthesis)

mms

[BibTex]

[BibTex]


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Hydrogen Storage in Nanostructured Carbon Materials at Room Temperature

Chen, X., Dettlaff-Weglikowska, U., Haluska, M., Hirscher, M., Becher, M., Roth, S.

In Structural and Electronic Properties of Molecular Nanostructures, pages: 597-600, AIP Conference Proceedings, AIP, Kirchberg, Tirol [Austria], 2002 (inproceedings)

mms

[BibTex]

[BibTex]


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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)

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Project Page [BibTex]

Project Page [BibTex]


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Micromagnetism and the microstructure of the cell walls in Sm2Co17 based permanent magnets

Goll, D., Hadjipanayis, G. C., Kronmüller, H.

In Proceedings of the 17th International Workshop on Rare-Earth Magnets and their Applications, pages: 696-703, Rinton Press, Newark, Delaware, USA, 2002 (inproceedings)

mms

[BibTex]

[BibTex]


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Ab-initio study of the influence of epitaxial strain on magnetoelastic properties

Komelj, M., Fähnle, M.

In Atomistic Aspects of Epitaxial Growth, pages: 439-447, NATO Science series: Series 2, Mathematics, Physics, and Chemistry, Kluwer Academic Publishers, Dassia, Corfu [Greece], 2002 (inproceedings)

mms

[BibTex]

[BibTex]