A Novel Propeller Design for Micro-Swimming robot

The applications of a micro-swimming robot such as minimally invasive surgery, liquid pipeline robot etc. are widespread in recent years. The potential application fields are so inspiring, and it is becoming more and more achievable with the development of microbiology and Micro-Electro-Mechanical Systems (MEMS). The aim of this study is to improve the performance of micro-swimming robot through redesign the structure. To achieve the aim, this study reviewed all of the modelling methods of low Reynolds number flow including Resistive-force Theory (RFT), Slender Body Theory (SBT), and Immersed Boundary Method (IBM) etc. The swimming model with these methods has been analysed. Various aspects e.g. hydrodynamic interaction, design, development, optimisation and numerical methods from the previous researches have been studied. Based on the previous design of helix propeller for micro-swimmer, this study has proposed a novel propeller design for a micro-swimming robot which can improve the velocity with simplified propulsion structure. This design has adapted the coaxial symmetric double helix to improve the performance of propulsion and to increase stability. The central lines of two helical tails overlap completely to form a double helix structure, and its tail radial force is balanced with the same direction and can produce a stable axial motion. The verification of this design is conducted using two case studies. The first one is a pipe inspection robot which is in mm scale and swims in high viscosity flow that satisfies the low Reynolds number flow condition. Both simulation and experiment analysis are conducted for this case study. A cross-development method is adopted for the simulation analysis and prototype development. The experiment conditions are set up based on the simulation conditions. The conclusion from the analysis of simulation results gives suggestions to improve design and fabrication for the prototype. Some five revisions of simulation and four revisions of the prototype have been completed. The second case study is the human blood vessel robot. For the limitations of fabrication technology, only simulation is conducted, and the result is compared with previous researches. The results show that the proposed propeller design can improve velocity performance significantly. The main outcomes of this study are the design of a micro-swimming robot with higher velocity performance and the validation from both simulation and experiment

Magnetic Micro-Origami

Microscopic origami figures can be created from thin film patterns using surface tension of liquids or residual stresses in thin films. The curvature of the structures, direction of bending, twisting, and folding of the patterns can be controlled by their shape, thickness, and elastic properties and by the strength of the residual stresses. Magnetic materials used for micro- and nano-origami structures play an essential role in many applications. Magnetic force due to applied magnetic field can be used for remote actuation of microrobots. It can also be used in targeted drug delivery to direct cages loaded with drugs or microswimmers to transport drugs to specific organs. Magnetoelastic properties of free-standing micro-origami patterns can serve for stress or magnetic field sensing. Also, the stress-induced anisotropy and magnetic shape anisotropy provide a convenient method of tuning magnetic properties by designing a shape of the micro-origami figures instead of varying the composition of the films. Micro-origami figures can also serve as building blocks for two- and three-dimensional meta-materials with unique properties such as negative index of refraction. Micro-origami techniques provide a powerful method of self-assembly of magnetic circuits and integrating them with microelectro-mechanical systems or other functional devices

Challenges in flexible microsystem manufacturing : fabrication, robotic assembly, control, and packaging.

Microsystems have been investigated with renewed interest for the last three decades because of the emerging development of microelectromechanical system (MEMS) technology and the advancement of nanotechnology. The applications of microrobots and distributed sensors have the potential to revolutionize micro and nano manufacturing and have other important health applications for drug delivery and minimal invasive surgery. A class of microrobots studied in this thesis, such as the Solid Articulated Four Axis Microrobot (sAFAM) are driven by MEMS actuators, transmissions, and end-effectors realized by 3-Dimensional MEMS assembly. Another class of microrobots studied here, like those competing in the annual IEEE Mobile Microrobot Challenge event (MMC) are untethered and driven by external fields, such as magnetic fields generated by a focused permanent magnet. A third class of microsystems studied in this thesis includes distributed MEMS pressure sensors for robotic skin applications that are manufactured in the cleanroom and packaged in our lab. In this thesis, we discuss typical challenges associated with the fabrication, robotic assembly and packaging of these microsystems. For sAFAM we discuss challenges arising from pick and place manipulation under microscopic closed-loop control, as well as bonding and attachment of silicon MEMS microparts. For MMC, we discuss challenges arising from cooperative manipulation of microparts that advance the capabilities of magnetic micro-agents. Custom microrobotic hardware configured and demonstrated during this research (such as the NeXus microassembly station) include micro-positioners, microscopes, and controllers driven via LabVIEW. Finally, we also discuss challenges arising in distributed sensor manufacturing. We describe sensor fabrication steps using clean-room techniques on Kapton flexible substrates, and present results of lamination, interconnection and testing of such sensors are presented

Material selection for the actuator design for a biomimetic rolling robot conducive to miniaturization

The purpose of this thesis was to research, select, and test an actuator mechanism for ultimate use on a centimeter scale biomimetic rolling robot. The design of the actuator will allow a rolling motion that closely mimics cellular locomotion in addition to providing a novel motion for other applications. The basis of the design has been completed through previous mechanical design research. The existing robotic mechanism consists of a larger scale spherical body with legs which controllably extend and contract, yielding a trajectory which results in a rolling motion of the body. The previous research also derived a mathematical model of the kinematics of the motion. The current work seeks to improve on the previous work by selecting an actuation mechanism that preserves the biomimetic motion and that allows this device to eventually be utilized at the microscale. Material selection is of critical importance in developing actuation mechanisms at the microscale. Smart materials were extensively researched because of their actuation properties. Based on the strain percentage, power requirement, and force output, it was determined that the preferable actuation material was an electroactive polymer (EAP). Samples of Ionic Polymer-Metal Composite (IPMC), a type of EAP, were then fabricated, purchased, and tested. Test results from this work will enable future actuator designs and configurations to be fabricated with predicted results. This research also provided a basis for further mechanical design of the rolling robot with the incorporation of EAP actuators. Lastly, future work of combining sensors with the design, therefore compounding capabilities, of the rolling robot is discussed

Modeling and Control of a Magnetic Drug Delivery System

Therapeutic operation risk has been reduced by the use of micro-robots, allowing highly invasive surgery to be replaced by low invasive surgery (LIS), which provides an effective tool even in previously inaccessible parts of the human body. LIS techniques help delivering drugs effectively via micro-carriers. The micro-carriers are divided into two groups: tethered devices, which are supported by internally supplied propulsion mechanism, and untethered devices. Remote actuation is the critical issue in micro-device navigation, especially through blood vessels. To achieve remote control within the cardiovascular system, magnetic propulsion offers an advantage over other proposed actuation methods. In the literature, most research has focused on micro-device structural design, while there is a lack of research into design and analysis of combined structure and control. As the main part, integrating the principle of electromagnetic induced force by feedback control design will lead to the desired automatic movement. An actuator configuration should thus first be designed to initiate the desired force. The design is basically defining the type and placement of a set of coils to achieve an operational goal. In this project, the magnetic actuation is initiated by a combination of four electromagnets and two sets of uniform coils. Preliminary studies on 2D navigation of a ferromagnetic particle are used to show the effect of actuator structure on controller performance. Accordingly, the performance of the four electromagnets combination is compared to the proposed augmented structure with uniform coils. The simulation results show the improved efficiency of the augmented structure. In more general cases, the arrangement and number of electromagnets are unknown and should be defined. An optimization method is suggested to find these variables when the working space is maximized. Finally, the problem of robust output regulation of the electromagnetic system driven by a linear exosystem, is also addressed in this project. The exosystem is assumed to be neutrally stable with unknown frequencies. The parallel connection of two controllers, a robust stabilizer and an internal model-based controller, is presented to eliminate the output error. In the latter one, an adaptation is used to tune the internal model frequencies such that a steady-state control is produced to maintain the output-zeroing condition. The robust regulation with a local domain of convergence is achieved for a special class of decomposable MIMO nonlinear minimum-phase system. The simulation results show the effectiveness and robustness of this method for the electromagnetic system when two different paths are considered

EUROSENSORS XVII : book of abstracts

Fundação Calouste Gulbenkien (FCG).Fundação para a Ciência e a Tecnologia (FCT)

Concept, modeling and experimental characterization of the modulated friction inertial drive (MFID) locomotion principle:application to mobile microrobots

A mobile microrobot is defined as a robot with a size ranging from 1 in3 down to 100 µm3 and a motion range of at least several times the robot's length. Mobile microrobots have a great potential for a wide range of mid-term and long-term applications such as minimally invasive surgery, inspection, surveillance, monitoring and interaction with the microscale world. A systematic study of the state of the art of locomotion for mobile microrobots shows that there is a need for efficient locomotion solutions for mobile microrobots featuring several degrees of freedom (DOF). This thesis proposes and studies a new locomotion concept based on stepping motion considering a decoupling of the two essential functions of a locomotion principle: slip generation and slip variation. The proposed "Modulated Friction Inertial Drive" (MFID) principle is defined as a stepping locomotion principle in which slip is generated by the inertial effect of a symmetric, axial vibration, while the slip variation is obtained from an active modulation of the friction force. The decoupling of slip generation and slip variation also has lead to the introduction of the concept of a combination of on-board and off-board actuation. This concept allows for an optimal trade-off between robot simplicity and power consumption on the one hand and on-board motion control on the other hand. The stepping motion of a MFID actuator is studied in detail by means of simulation of a numeric model and experimental characterization of a linear MFID actuator. The experimental setup is driven by piezoelectric actuators that vibrate in axial direction in order to generate slip and in perpendicular direction in order to vary the contact force. After identification of the friction parameters a good match between simulation and experimental results is achieved. MFID motion velocity has shown to depend sinusoidally on the phase shift between axial and perpendicular vibration. Motion velocity also increases linearly with increasing vibration amplitudes and driving frequency. Two parameters characterizing the MFID stepping behavior have been introduced. The step efficiency ηstep expresses the efficiency with which the actuator is capable of transforming the axial vibration in net motion. The force ratio qF evaluates the ease with which slip is generated by comparing the maximum inertial force in axial direction to the minimum friction force. The suitability of the MFID principle for mobile microrobot locomotion has been demonstrated by the development and characterization of three locomotion modules with between 2 and 3 DOF. The microrobot prototypes are driven by piezoelectric and electrostatic comb drive actuators and feature a characteristic body length between 20 mm and 10 mm. Characterization results include fast locomotion velocities up to 3 mm/s for typical driving voltages of some tens of volts and driving frequencies ranging from some tens of Hz up to some kHz. Moreover, motion resolutions in the nanometer range and very low power consumption of some tens of µW have been demonstrated. The advantage of the concept of a combination of on-board and off-board actuation has been demonstrated by the on-board simplicity of two of the three prototypes. The prototypes have also demonstrated the major advantage of the MFID principle: resonance operation has shown to reduce the power consumption, reduce the driving voltage and allow for simple driving electronics. Finally, with the fabrication of 2 × 2 mm2 locomotion modules with 2 DOF, a first step towards the development of mm-sized mobile microrobots with on-board motion control is made

Magnetic Hybrid-Materials

Externally tunable properties allow for new applications of suspensions of micro- and nanoparticles in sensors and actuators in technical and medical applications. By means of easy to generate and control magnetic fields, fluids inside of matrices are studied. This monnograph delivers the latest insigths into multi-scale modelling, manufacturing and application of those magnetic hybrid materials