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Full-Text Articles in Mechanical Engineering
Magnetic Gradient-Based Magnetic Tweezer System For 3d And Swarm Control Of Microswimmer, Xiao Zhang
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 …
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. …