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Controlled independent manipulation of multiple objects at cellular length scales in an open challenge with potential applications in life sciences and advanced manufacturing. Magnetism has been studied as a means to perform such fine scale manipulation, but generating fields that discriminate between targets at small length scales is nontrivial. We present a system for simultaneous control of multiple...
Smart materials; for example shape memory alloy (SMA) is used as actuator because of change in its properties like shape; dimension; stiffness; impedance; strain; natural frequency; with an external stimulus. Moreover; using SMA material in actuators makes the design simple and compact; at the same time providing large strain. These fundamental characteristics make them increasingly essential for...
Magnetic micro robots have been proposed for applications in minimally invasive surgery and cell manipulation in biological experiments. A major challenge of manipulating multiple magnets at the microscale is addressing them individually using global magnetic fields. In particular, it is difficult to control magnets, which are identical in all aspects. This work proposes a force control method to...
In the past few decades demand for Multi Terrain Robot applications have been increased significantly. These robots can be employed for the purpose of security surveillance and rescue purposes in the remote areas. In remote areas the terrain is not uniform and hence stability of the robot becomes a challenging task. In this paper, a new design is proposed for the mobile robot, which aims to perform...
Opening and navigating through doors remains a challenging problem, particularly in cluttered environments and for spring-loaded doors. Passing through doors, especially spring-loaded doors, requires making and breaking contacts with the door and preventing the door from closing while passing through. In this work, we present a planning framework that handles non-spring and spring-loaded doors, in...
This paper addresses mechanics, design, estimation and control for aerial grasping. We present the design of several light-weight, low-complexity grippers that allow quadrotors to grasp and perch on branches or beams and pick up and transport payloads. We then show how the robot can use rigid body dynamic models and sensing to verify a grasp, to estimate the the inertial parameters of the grasped...
We address the controller design and the trajectory generation for a quadrotor maneuvering in three dimensions in a tightly constrained setting typical of indoor environments. In such settings, it is necessary to allow for significant excursions of the attitude from the hover state and small angle approximations cannot be justified for the roll and pitch. We develop an algorithm that enables the real-time...
Oil skimmers towed by two vehicles have been widely used for skimming of oil on the water surface. In this paper, we address the cooperative control of two autonomous surface vehicles for oil skimming and cleanings. We model the skimmer as a flexible, floating rope of constant length as well as discrete segmented model. We derive the equations governing the rope dynamics from first principles and...
For such biomedical applications as single cell manipulation and targeted delivery of chemicals, it is important to fabricate microstructures that can be powered and controlled without a tether in fluidic environments. In this work, we describe the construction and operation of micronsized, biocompatible ferromagnetic microtransporters driven by external magnetic fields capable of exerting forces...
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