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Electromagnetically actuated microparticles can be widely applied in the field of biomedicine, for its advantages of minimally invasive feature and approachability to complex microenvironments. In this paper, we propose a robust feedback control approach for precise 3D manipulation of a microparticle actuated by a self-constructed electromagnetic coil system. Model uncertainties, environmental disturbances...
Continuum robot has exhibited advantage in minimally invasive surgery for its flexibility. This paper presents the design of a three-section continuum robot that employs twelve flexible rods and six linear motors under an interactive shape control. The length of the entire robot and the length difference among sections are minimized by optimizing the approximate workspace to meet the requirement of...
This paper presents the design and fabrication of a magnetic microrobot transcporter with porous spherical structure produced by 3D laser lithography. The microrobots are coated with nickel (Ni) and titanium (Ti) for magnetic actuation and biocompatibility, respectively. A series of characterization experiments is conducted to show that Ni coating enables the microrobot to possess ideal ferromagnetic...
In this paper we present the review of various research works that our group has done to develop a simple and environmentally-friendly approach for (i) green plasma chemistry based synthesis of free standing 3-D carbon nanostructures, particularly graphene nanomesh and vertical graphene, using low flash point sustainable essential oils that vaporize easily and can be easily admitted into plasma chamber...
In this paper we report the synthesis of nitrogen functionalized vertical graphene (N-VG) on nickel foam and silicon substrates using radio frequency plasma enhanced chemical vapor deposition (RF-PECVD) system. Two different environmental friendly green plasma approaches were adopted where we tried to achieve: (i) direct synthesis of N-VG by simultaneous use of nitrogen and hydrogen gas along with...
Pose estimation is an important step towards spacecraft docking with the space station, as it can make the spacecraft react to the pose change in real time and better accomplish the tracking mission. However, it is difficult to conduct the real rendezvous and docking practice due to the limitations of research conditions and the expenses. In order to facilitate the validation of the pose estimation...
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