NDLI: Control of multiple heterogeneous magnetic micro-robots on non-specialized surfaces

Content Provider	IEEE Xplore Digital Library
Author	Diller, E. Floyd, S. Pawashe, C. Sitti, M.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering and the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA (Sitti, M.) \|\| Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA (Diller, E.; Pawashe, C.) \|\| Arete Associates, Arlington VA 22202, USA (Floyd, S.)
Abstract	In this work, we develop methods for controlling multiple untethered magnetic micro-robots (called Mag-µBots), with all dimensions under 1 mm, without the need for a specialized surface. We investigate sets of Mag-µBots that are geometrically and magnetically designed to respond uniquely to the same magnetic fields. The responses of geometrically dissimilar Mag-µBots with similar magnetization and a group of identically-fabricated Mag-µBots are investigated. By controlling the magnetic field waveforms, individual and subgroups of Mag-µBots are able to locomote in a parallel but dissimilar fashion. Specifically, the pulsing frequency of the imposed driving magnetic fields is used as a selection method among the Mag-µBots. This method for accomplishing motion discrimination is discussed, modeled, and tested. Independent global positioning of two and three robots is demonstrated in two-dimensional space. While individual Mag-µBot velocities can be as high as 7 mm/s, the effective velocities during multi-robot control are found to be up to 2 mm/s. As this control method is accomplished without the use of a specialized surface, it has potential applications in areas such as micro-fluidic systems and bio-manipulation
Starting Page	115
Ending Page	120
File Size	2024078
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979785
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Magnetization Robot sensing systems Collision avoidance Magnetomechanical effects Coils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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