Remote Manipulation of Untethered Bots in Soft Media PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Remote Manipulation of Untethered Bots in Soft Media PDF full book. Access full book title Remote Manipulation of Untethered Bots in Soft Media by Yulia Malkova. Download full books in PDF and EPUB format.
Author: Yulia Malkova Publisher: ISBN: Category : Electrical engineering Languages : en Pages : 0
Book Description
Scientific and engineering literature extensively discusses untethered miniature devices, also called bots, as those parts of medical robotic systems that can be manipulated remotely within the human body. There is clear evidence that this topic has gained significant traction based on the spike in publication over the past seven years (Koleoso et al., 2020). Robotic systems that employ micro- and millimeter size bots are thought to have numerous potential medical applications including drug delivery (Jang et al., 2019), localized heating or cooling, cessation of bleeding, clearing of occlusions, establishing a diagnosis based on sensing or biopsy, and minimally invasive surgeries. Most studies focuses on the actuation and control of such bots in fluid environment, typically at low Reynolds numbers. Yet, many medical applications would involve soft tissues, rather than fluids. While controlling tethered devices, such as needles, based on appropriate models of interaction with tissue has been the subject of considerable interest. However, no similar work has been published for untethered miniature devices. The goal of the present thesis is to develop trajectory planning and control methods for untethered solid millimeter size bots in soft tissue under the action of magnetic force. This study employs a recently developed model describing the interaction of untethered bots with soft materials during bot motion by implementing a numerical simulation of the model. Given the highly non-linear and past trajectory (history) dependent nature of the interaction with the medium, in addition to significant model parameter variability throughout soft media, the present thesis hypothesizes that a trajectory control based on the so-called Sliding Mode Control (SMC) method will make it possible for a bot to follow a large class of practical trajectories accurately. Numerical simulations of the proposed SMC method were conducted and experimentally validated for a class of trajectories that could be well approximated by circular and straight segments. The robustness of the proposed method was analyzed numerically by simulating trajectories in media with random variations of various model parameters as well as in the presence of significant delays in the feedback signal used to estimate the bot position. All the work carried out in this thesis applies to bots that are spherical making it possible to simplify the model, trajectory control, and their experimental validation. Furthermore, experimental validations are limited in this work to bots that are on the order of millimeters in diameter. While smaller bots may be of interest in medicine, they would be significantly harder to actuate and image during experimental validation experiments. At the same time, millimeter size bots are commensurate with the typical dimensions of needles widely employed in medical applications. Keywords: Medical Robotics, Micro Robots, Motion control, Robophysics, Soft Media, Untethered Device
Author: Yulia Malkova Publisher: ISBN: Category : Electrical engineering Languages : en Pages : 0
Book Description
Scientific and engineering literature extensively discusses untethered miniature devices, also called bots, as those parts of medical robotic systems that can be manipulated remotely within the human body. There is clear evidence that this topic has gained significant traction based on the spike in publication over the past seven years (Koleoso et al., 2020). Robotic systems that employ micro- and millimeter size bots are thought to have numerous potential medical applications including drug delivery (Jang et al., 2019), localized heating or cooling, cessation of bleeding, clearing of occlusions, establishing a diagnosis based on sensing or biopsy, and minimally invasive surgeries. Most studies focuses on the actuation and control of such bots in fluid environment, typically at low Reynolds numbers. Yet, many medical applications would involve soft tissues, rather than fluids. While controlling tethered devices, such as needles, based on appropriate models of interaction with tissue has been the subject of considerable interest. However, no similar work has been published for untethered miniature devices. The goal of the present thesis is to develop trajectory planning and control methods for untethered solid millimeter size bots in soft tissue under the action of magnetic force. This study employs a recently developed model describing the interaction of untethered bots with soft materials during bot motion by implementing a numerical simulation of the model. Given the highly non-linear and past trajectory (history) dependent nature of the interaction with the medium, in addition to significant model parameter variability throughout soft media, the present thesis hypothesizes that a trajectory control based on the so-called Sliding Mode Control (SMC) method will make it possible for a bot to follow a large class of practical trajectories accurately. Numerical simulations of the proposed SMC method were conducted and experimentally validated for a class of trajectories that could be well approximated by circular and straight segments. The robustness of the proposed method was analyzed numerically by simulating trajectories in media with random variations of various model parameters as well as in the presence of significant delays in the feedback signal used to estimate the bot position. All the work carried out in this thesis applies to bots that are spherical making it possible to simplify the model, trajectory control, and their experimental validation. Furthermore, experimental validations are limited in this work to bots that are on the order of millimeters in diameter. While smaller bots may be of interest in medicine, they would be significantly harder to actuate and image during experimental validation experiments. At the same time, millimeter size bots are commensurate with the typical dimensions of needles widely employed in medical applications. Keywords: Medical Robotics, Micro Robots, Motion control, Robophysics, Soft Media, Untethered Device
Author: Li Zhang Publisher: John Wiley & Sons ISBN: 3527351779 Category : Languages : en Pages : 261
Book Description
Reference on achieving contactless manipulation of soft robots, detailing high level concepts and perspectives and technical skills of soft robots Untethered Miniature Soft Robots: Materials, Fabrications, and Applications introduces the emerging field of miniature soft robots and summarizes the recent rapid development in the field to date, describing different types of functional materials to build miniature soft robots, such as silicone elastomer, carbon-based materials, hydrogels, liquid crystal polymer, flexible ferrofluid, and liquid metal, and covering the material properties, fabrication strategies, and functionalities in soft robots together with their underlying mechanisms. The book discusses magnetically, thermally, optically, and chemically actuated soft robots in depth, explores the many specific applications of miniature soft robots in biomedical, environmental, and electrical fields and summarizes the development of miniature soft robots based on intelligent materials, actuation mechanisms, soft matter, fabrication strategies, actuation, and locomotion principles. In closing, the text summarizes the opportunities and challenges faced by miniature soft robots, providing expert insight into the possible futures of this field. Written by four highly qualified academics, Untethered Miniature Soft Robots covers sample topics such as: Soft elastomer-based robots with programmable magnetization profiles and untethered soft robots based on template-aiding Working mechanisms of carbon-based materials, covering light-induced expansion and shrinkage, and humidity-induced deformation Designing microscale building blocks, modular assembly of building blocks based on Denavit-Hartenberg (DH) matrix, and inverse and forward design of modular morphing systems Material designs of magnetic liquid crystal elastomers (LCE) systems, multiple-stimuli responsiveness of magnetic LCE systems, and adaptive locomotion of magnetic LCE-based robots Controllable deformation and motion behaviors, as well as applications of ferrofluids droplet robots (FDRs), including cargo capturing, object sorting, liquid pumping/mixing, and liquid skin. Providing highly detailed and up-to-date coverage of the topic, Untethered Miniature Soft Robots serves as an invaluable and highly comprehensive reference for researchers working in this promising field across a variety of disciplines, including materials scientists, mechanical and electronics engineers, polymer chemists, and biochemists.
Author: Haojian Lu Publisher: Academic Press ISBN: 0128221623 Category : Technology & Engineering Languages : en Pages : 164
Book Description
Untethered Small-Scale Robots for Biomedical Applications introduces the principle, design, fabrication and application of small-scale robots for biomedical applications. Robots in the scale of nanometer, micrometer and millimeter are described in detail, along with their impact on the field of biomedical engineering. The selected examples of robots across different scales are of the most essential and innovative designs in a small-scale robot with various application settings for biomechanics characterization, drug delivery and surgical procedure. The representative robots represented operate robustly and safely in complex physiological environments where they have a transformative impact in bioengineering and healthcare. This book will lead the audience to the field of small-scale robots through the description of the physics in the small scale, design and fabrication of small-scale robots, and how these robots may impact the future of biomedical studies and minimally-invasive surgical procedures. Provides a comprehensive review of the current advances in biomedical untethered mobile milli/microrobots Describes the most representative small-scale robots in detail, including design, fabrication, control and function aspects Presents the imminent potential impacts of biomedical microrobots Discusses the existing challenges and emerging concepts associated with designing such a miniaturized robot for operation inside a biological environment for biomedical applications
Author: Derek A. Paley Publisher: Springer Nature ISBN: 303050476X Category : Technology & Engineering Languages : en Pages : 301
Book Description
This book includes representative research from the state‐of‐the‐art in the emerging field of soft robotics, with a special focus on bioinspired soft robotics for underwater applications. Topics include novel materials, sensors, actuators, and system design for distributed estimation and control of soft robotic appendages inspired by the octopus and seastar. It summarizes the latest findings in an emerging field of bioinspired soft robotics for the underwater domain, primarily drawing from (but not limited to) an ongoing research program in bioinspired autonomous systems sponsored by the Office of Naval Research. The program has stimulated cross‐disciplinary research in biology, material science, computational mechanics, and systems and control for the purpose of creating novel robotic appendages for maritime applications. The book collects recent results in this area.
Author: YongAn Huang Publisher: Springer ISBN: 3319652893 Category : Computers Languages : en Pages : 912
Book Description
The three volume set LNAI 10462, LNAI 10463, and LNAI 10464 constitutes the refereed proceedings of the 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017, held in Wuhan, China, in August 2017. The 235 papers presented in the three volumes were carefully reviewed and selected from 310 submissions. The papers in this first volume of the set are organized in topical sections on soft, micro-nano, bio-inspired robotics; human-machine interaction; swarm robotics; underwater robotics.
Author: Fengtong Ji Publisher: Frontiers Media SA ISBN: 2832551920 Category : Technology & Engineering Languages : en Pages : 126
Book Description
Micro/nanorobots have emerged as functional agents and versatile tools for investigating the complex microenvironments within biological systems. Operating at a scale comparable to cells, these micro/nanorobots offer controllable motion and customizable characteristics, whilst swarming micro/nanorobots exhibit exceptional efficiency, robustness, and adaptivity. As a result, these active particles hold significant potential for interacting with living cells, diseased tissues, and organs, offering viable approaches to uncovering natural principles of development and addressing diseases such as drug-tolerant infections and bacterial self-organization. To tackle these challenges, functionalized micro/nanorobots, through active intervention, can yield substantial effects on the development and treatment of cellular environments, bacterial biofilms, and tissue restoration. In this regard, we are organizing a special issue to delineate the current state of the art of micro/nanorobots in biological contexts and to advance therapeutics by elucidating the underlying mechanisms in living systems. In the contemporary era of advancing nanomedicine, the utilization of micro/nanorobots in clinical therapy is still in its nascent stages within the realm of modern healthcare. Biomedical and biological environments hold immense promise as platforms for these active agents, showcasing remarkable functionalities and efficacy in vitro, ex vivo, and in vivo. Micro/nanorobots have the capacity to emulate the behaviors of living cells, particularly bacteria, which play a crucial role in microbial infections, thus impacting public health and medical devices. These active agents possess the potential to overcome biological barriers and enable targeted therapies for various healthcare issues, including the prevention and treatment of diseased tissues and biofilms, which will significantly enhance the minimally invasive operations and remote treatments for the next-generation human healthcare system. The objectives of this research topic are threefold: (1) to investigate the novel functionalities of micro/nanorobots in biological contexts, (2) to unravel the underlying principles of cell, tissue, and organ development, and (3) to innovate active therapeutic approaches for addressing diseased tissues and microbial biofilms
Author: Oliver Brock Publisher: MIT Press ISBN: 0262513099 Category : Technology & Engineering Languages : en Pages : 334
Book Description
State-of-the-art robotics research on such topics as manipulation, motion planning, micro-robotics, distributed systems, autonomous navigation, and mapping. Robotics: Science and Systems IV spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and analysis of robotics systems. This volume presents the proceedings of the fourth annual Robotics: Science and Systems conference, held in 2008 at the Swiss Federal Institute of Technology in Zurich. The papers presented cover a range of topics, including computer vision, mapping, terrain identification, distributed systems, localization, manipulation, collision avoidance, multibody dynamics, obstacle detection, microrobotic systems, pursuit-evasion, grasping and manipulation, tracking, spatial kinematics, machine learning, and sensor networks as well as such applications as autonomous driving and design of manipulators for use in functional-MRI. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.
Author: Metin Sitti Publisher: MIT Press ISBN: 0262341018 Category : Technology & Engineering Languages : en Pages : 305
Book Description
The first textbook on micron-scale mobile robotics, introducing the fundamentals of design, analysis, fabrication, and control, and drawing on case studies of existing approaches. Progress in micro- and nano-scale science and technology has created a demand for new microsystems for high-impact applications in healthcare, biotechnology, manufacturing, and mobile sensor networks. The new robotics field of microrobotics has emerged to extend our interactions and explorations to sub-millimeter scales. This is the first textbook on micron-scale mobile robotics, introducing the fundamentals of design, analysis, fabrication, and control, and drawing on case studies of existing approaches. The book covers the scaling laws that can be used to determine the dominant forces and effects at the micron scale; models forces acting on microrobots, including surface forces, friction, and viscous drag; and describes such possible microfabrication techniques as photo-lithography, bulk micromachining, and deep reactive ion etching. It presents on-board and remote sensing methods, noting that remote sensors are currently more feasible; studies possible on-board microactuators; discusses self-propulsion methods that use self-generated local gradients and fields or biological cells in liquid environments; and describes remote microrobot actuation methods for use in limited spaces such as inside the human body. It covers possible on-board powering methods, indispensable in future medical and other applications; locomotion methods for robots on surfaces, in liquids, in air, and on fluid-air interfaces; and the challenges of microrobot localization and control, in particular multi-robot control methods for magnetic microrobots. Finally, the book addresses current and future applications, including noninvasive medical diagnosis and treatment, environmental remediation, and scientific tools.
Author: Yulia Malkova
Author: Yulia Malkova
Author: Li Zhang
Author: Haojian Lu
Author: Derek A. Paley
Author: Concepción A. Monje
Author: YongAn Huang
Author: Fengtong Ji
Author: Oliver Brock
Author: Metin Sitti
Author: Helmut Hauser