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2015


Untethered Magnetic Micromanipulation
Untethered Magnetic Micromanipulation

Diller, E., Sitti, M.

In Micro-and Nanomanipulation Tools, 13, 10, Wiley-VCH Verlag GmbH & Co. KGaA, November 2015 (inbook)

Abstract
This chapter discusses the methods and state of the art in microscale manipulation in remote environments using untethered microrobotic devices. It focuses on manipulation at the size scale of tens to hundreds of microns, where small size leads to a dominance of microscale physical effects and challenges in fabrication and actuation. To motivate the challenges of operating at this size scale, the chapter includes coverage of the physical forces relevant to microrobot motion and manipulation below the millimeter-size scale. It then introduces the actuation methods commonly used in untethered manipulation schemes, with particular focus on magnetic actuation due to its wide use in the field. The chapter divides these manipulation techniques into two types: contact manipulation, which relies on direct pushing or grasping of objects for motion, and noncontact manipulation, which relies indirectly on induced fluid flow from the microrobot motion to move objects without any direct contact.

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DOI Project Page [BibTex]

2015


DOI Project Page [BibTex]


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Distributed Event-based State Estimation

Trimpe, S.

Max Planck Institute for Intelligent Systems, November 2015 (techreport)

Abstract
An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor-actuator-agents observe a dynamic process and sporadically exchange their measurements and inputs over a bus network. Based on these data, each agent estimates the full state of the dynamic system, which may exhibit arbitrary inter-agent couplings. Local event-based protocols ensure that data is transmitted only when necessary to meet a desired estimation accuracy. This event-based scheme is shown to mimic a centralized Luenberger observer design up to guaranteed bounds, and stability is proven in the sense of bounded estimation errors for bounded disturbances. The stability result extends to the distributed control system that results when the local state estimates are used for distributed feedback control. Simulation results highlight the benefit of the event-based approach over classical periodic ones in reducing communication requirements.

am ics

arXiv [BibTex]

arXiv [BibTex]


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Lernende Roboter

Trimpe, S.

In Jahrbuch der Max-Planck-Gesellschaft, Max Planck Society, May 2015, (popular science article in German) (inbook)

am ics

link (url) [BibTex]

link (url) [BibTex]

2011


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Automated Control of AFM Based Nanomanipulation

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 237-311, Springer Berlin Heidelberg, 2011 (incollection)

pi

[BibTex]

2011


[BibTex]


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Teleoperation Based AFM Manipulation Control

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 145-235, Springer Berlin Heidelberg, 2011 (incollection)

pi

[BibTex]

[BibTex]


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Descriptions and challenges of AFM based nanorobotic systems

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 13-29, Springer Berlin Heidelberg, 2011 (incollection)

pi

[BibTex]

[BibTex]


Benchmark datasets for pose estimation and tracking
Benchmark datasets for pose estimation and tracking

Andriluka, M., Sigal, L., Black, M. J.

In Visual Analysis of Humans: Looking at People, pages: 253-274, (Editors: Moesland and Hilton and Kr"uger and Sigal), Springer-Verlag, London, 2011 (incollection)

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publisher's site Project Page [BibTex]

publisher's site Project Page [BibTex]


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Applications of AFM Based Nanorobotic Systems

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 313-342, Springer Berlin Heidelberg, 2011 (incollection)

pi

[BibTex]

[BibTex]


Steerable random fields for image restoration and inpainting
Steerable random fields for image restoration and inpainting

Roth, S., Black, M. J.

In Markov Random Fields for Vision and Image Processing, pages: 377-387, (Editors: Blake, A. and Kohli, P. and Rother, C.), MIT Press, 2011 (incollection)

Abstract
This chapter introduces the concept of a Steerable Random Field (SRF). In contrast to traditional Markov random field (MRF) models in low-level vision, the random field potentials of a SRF are defined in terms of filter responses that are steered to the local image structure. This steering uses the structure tensor to obtain derivative responses that are either aligned with, or orthogonal to, the predominant local image structure. Analysis of the statistics of these steered filter responses in natural images leads to the model proposed here. Clique potentials are defined over steered filter responses using a Gaussian scale mixture model and are learned from training data. The SRF model connects random fields with anisotropic regularization and provides a statistical motivation for the latter. Steering the random field to the local image structure improves image denoising and inpainting performance compared with traditional pairwise MRFs.

ps

publisher site [BibTex]

publisher site [BibTex]


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Nanomechanics of AFM based nanomanipulation

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 87-143, Springer Berlin Heidelberg, 2011 (incollection)

pi

[BibTex]

[BibTex]


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Instrumentation Issues of an AFM Based Nanorobotic System

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 31-86, Springer Berlin Heidelberg, 2011 (incollection)

pi

[BibTex]

[BibTex]

2007


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Bacteria integrated swimming microrobots

Behkam, B., Sitti, M.

In 50 years of artificial intelligence, pages: 154-163, Springer Berlin Heidelberg, 2007 (incollection)

pi

[BibTex]

2007


[BibTex]