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Non contact magnetic actuation inside liquids or in ambient environments has gained a large interest over the last few years. A large range of micrometer size particles are controlled using this principle. However little consideration has been made to air/liquid interface, despite the interesting properties of this environment (good repeatability due to the small adhesion forces, and low viscous effects...
In this work the fabrication and low Reynolds number swimming performance of a single helical turn micropropeller with easily scalable and reproducible geometry is described. The propeller is designed to explore recently revealed routes to optimize chiral magnetic microswimmers regarding high speed propulsion and maneuverability. This is achieved by velocity evaluation of micropropellers of varying...
Applications such as micromanipulation and minimally invasive surgery can be performed using micro-sized agents. For instance, drug-loaded magnetic micro-/nano- particles can enable targeted drug delivery. Their precise manipulation can be assured using a robust motion controller. In this paper, we design a closed-loop controller-observer pair for regulating the position of microagents. The prescribed...
Assembly of micro-scale objects requires us to develop manipulators that are small enough to apply small forces as well as robust enough to be controlled independently in a large number. In this paper, we have designed a specialized surface that can be utilized to control multiple microrobots with magnetic properties independently. The surface accommodates an array of planar microcoils that can create...
MC-1 Magnetotactic bacteria are being harnessed as medical nanorobots to deliver therapeutic agents to tumors. To do so, sequences of magnetic fields are being generated by a special platform to enable these bacteria to aggregate within the tumor. Although such aggregations within a 3D volume have been achieved by our group in the past, here we show an improved version enabling faster swarming within...
We combine strategies for passive particle assembly in soft matter with robotics to develop new means of controlled interaction. In capillary assembly, particles distort fluid interfaces and move in directions that minimize the surface area. In particular, they move along principle axes on curved interfaces to sites of high curvature via capillary migration. We propose a robot that serves as a programmable...
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