Mechanical Engineering Commons^™

Actuation And Control Methods For Individual And Swarm Multiscale Mechanical Systems, Pouria Razzaghi

Mechanical Engineering Research Theses and Dissertations

Robotic mechanisms can be driven by different internally and externally applied inertial and magnetic actuations. These actuations are utilized to regulate the dynamics of robots and move them in different locomotion modes. The first part of this dissertation is about using an external magnetic actuation to move a simple-in-design, small-scale robot for biomedical applications. The robots can be steered in different locomotion modes such as pivot walking and tumbling. The control design of this system consists of a swarm algorithm under a global control input, and a vision-based closed-loop controller to navigate in 2D environments.

Secondly, I propose a new …

Magnetic Gradient-Based Magnetic Tweezer System For 3d And Swarm Control Of Microswimmer, Xiao Zhang

Mechanical Engineering Research Theses and Dissertations

Microscale manipulation has very promising potential in medical applications such as drug delivery, minimal and invasion surgery. Contactless control is preferable as remote manipulation is necessary for in vivo applications. Among different control methods, magnetic power source is more suitable and robust for the applications mentioned above. Presented here is a magnetic tweezer system, which manipulates microscale magnetic particles using magnetic forces created by magnetic field gradient. The proposed system has three advantages: First, force applied by the magnetic tweezer system does not contact with the target object and can be generated in different directions. Second, the magnetic tweezer system …