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Microparticle Propulsion For In Vivo Navigation, Louis Rogowski
Microparticle Propulsion For In Vivo Navigation, Louis Rogowski
Mechanical Engineering Research Theses and Dissertations
Microscale propulsion impacts a diverse array of fields, with simplistic microrobots allowing for novel innovations in microscale surgery and drug delivery. Propulsion at the microscale is constrained by physics, with time-reversal and geometric symmetries limiting available propulsion mechanisms. However, certain fluid environments and surface coatings allow for the propulsion of microparticles through externally applied magnetic fields. Presented here is a detailed analysis of microparticles propelling using spontaneous symmetry breaking, flagella surface coatings, and multi-modal actuation mechanisms. Spontaneous symmetry breaking in nonlinearly viscoelastic fluids is presented for the first time in literature, with two equal and opposite propulsion states existing along …
Control And Locomotion Of Inertially And Magnetically Actuated Multi-Scale Robotic Systems, Ehab Al Khatib
Control And Locomotion Of Inertially And Magnetically Actuated Multi-Scale Robotic Systems, Ehab Al Khatib
Mechanical Engineering Research Theses and Dissertations
In this research, two actuation systems were introduced, inertial and magnetic actuation. In the inertial actuation, the robot used the transfer of momentum to navigate, and this momentum could be generated by spinning masses and wheels. Recent studies in our System Laboratory proved that a wide range of inertially actuated locomotion systems could be generated. This can be achieved by using a family tree approach, starting from a very simple system, and progressively evolving it to more complex ones. The motion diversity of these robots inspired us to extend their locomotion from a macro scale to millimeter and micro scales. …