Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 15 of 15 for “"Microrobots"”.
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Bi-directional Flyback Converter Circuit Design for Flapping-wing Microrobots
Scientists and Engineers have shown great interest in developing biologically inspired flapping-wing micro aerial robots that mimic the behavior of aerial insects. One of the major design challenges for sub-gram aerial robots is to achieve power autonomy. Over the past decade, numerous designs of …
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Magnetically Actuated Microrobots for Tissue Elasticity Mapping in Colorectal Cancer Diagnosis
… early cancer detection. Magnetically actuated microrobots have recently emerged as versatile tools for medical applications. Their precise, externally controlled movements allow them to perform various tasks, including targeted drug delivery, minimally invasive surgery, and tissue …
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Self-organising locally interpolating maps in control engineering
… during automated motion control of mobile microrobots. Microrobots can manipulate objects in the sub-micrometre-range if the actuator controller is correspondingly accurate. A data-based learning controller model is implemented with the Self-Organising Locally Interpolating Map (SOLIM). …
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Residual Model Learning for Microrobot Control
A majority of microrobots are constructed using compliant materials that are difficult to model analytically, limiting the utility of traditional model-based controllers. Challenges in data collection on microrobots and large errors between simulated models and real robots make current model-based …
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Analysis and Modeling of Magnetized Microswimmers: Effects of Geometry and Magnetic Properties
… is magnetic microswimmers--artificial microrobots that propel in fluid environments by being actuated using rotating external magnetic fields. This dissertation highlights our contribution to this class of microrobots. We address issues regarding fabrication difficulties arising from …
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Extensible Real-Time Sensor and Test Interface for a System-on-Chip
… group, is designed for autonomous navigation on microrobots, such as drones. To enable the real-time data processing required for this application, the ASIC includes a custom Sensor-and-Debug IP block that provides Serial Peripheral Interface (SPI) and First-In/First-Out (FIFO) buses. The custom …
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Atomic layer deposition for mechanical, magnetic, and robotic systems
… Finally, we explore magnetically encoded microrobots, unifying the worlds of magnetic information storage and micromechanical systems.
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Design and control of intelligent heterogeneous multi-configurable chained microrobotic modular systems
… Systems”. That is, the development of modular microrobots composed of different types of modules able to perform different types of movements (gaits), that can have different (chained) configurations depending on the task to perform. Heterogenous is the key word in this thesis. It is possible …
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Investigating Energetic Porous Silicon as a Solid Propellant Micro-Thruster
… and micron-scale mobile platforms such as microrobots and nano-satellites. Porous silicon becomes reactive when nano-scale pores are infused with an oxidizer such as sodium perchlorate. In this work, energetic porous silicon was investigated as a means of propulsion by quantifying thrust …
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Towards achieving power autonomy in soft-actuated micro aerial robots
… in miniaturizing power electronics for microrobots. Third, we took inspiration from the natural autorotation of maple seeds in their slow descent. We implemented the first samara-inspired mechanism on micro aerial robots, enhancing lift generation while maintaining in-flight attitude …
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Programmable Microparticle Scaffolds for Enhanced Diagnostic Devices
… a processing unit for simple decision making on microrobots. We foresee this technology impacting disciplines from medical microrobotics to environmental sensing and remediation.
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Synthetic creation of a chemotactic system via utilization of magnetically actuated microrobotic walkers
… induced the magnetic beads to self-assemble into microrobots and walk on surfaces. The velocity of these microrobotic walkers could be modulated by the frequency and the number of beads that composed the walkers. The receptor-ligand pair of biotin-streptavidin was utilized due to the extremely …
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Active filaments and hydrodynamic interactions in microscale propulsion
… and model. Their man-made counterparts, microrobots, are also often designed based on our understanding of the motion of microorganisms with clear applications in mind, such as minimally invasive surgery or targeted drug delivery. Two important questions regarding the swimming of …