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2020


Controlling two-dimensional collective formation and cooperative behavior of magnetic microrobot swarms
Controlling two-dimensional collective formation and cooperative behavior of magnetic microrobot swarms

Dong, X., Sitti, M.

The International Journal of Robotics Research, 2020 (article)

Abstract
Magnetically actuated mobile microrobots can access distant, enclosed, and small spaces, such as inside microfluidic channels and the human body, making them appealing for minimally invasive tasks. Despite their simplicity when scaling down, creating collective microrobots that can work closely and cooperatively, as well as reconfigure their formations for different tasks, would significantly enhance their capabilities such as manipulation of objects. However, a challenge of realizing such cooperative magnetic microrobots is to program and reconfigure their formations and collective motions with under-actuated control signals. This article presents a method of controlling 2D static and time-varying formations among collective self-repelling ferromagnetic microrobots (100 μm to 350 μm in diameter, up to 260 in number) by spatially and temporally programming an external magnetic potential energy distribution at the air–water interface or on solid surfaces. A general design method is introduced to program external magnetic potential energy using ferromagnets. A predictive model of the collective system is also presented to predict the formation and guide the design procedure. With the proposed method, versatile complex static formations are experimentally demonstrated and the programmability and scaling effects of formations are analyzed. We also demonstrate the collective mobility of these magnetic microrobots by controlling them to exhibit bio-inspired collective behaviors such as aggregation, directional motion with arbitrary swarm headings, and rotational swarming motion. Finally, the functions of the produced microrobotic swarm are demonstrated by controlling them to navigate through cluttered environments and complete reconfigurable cooperative manipulation tasks.

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DOI [BibTex]

2011


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Design and application of a wire-driven bidirectional telescopic mechanism for workspace expansion with a focus on shipbuilding tasks

Lee, D., Chang, D., Shin, Y., Son, D., Kim, T., Lee, K., Kim, J.

Advanced Robotics, 25, 2011 (article)

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[BibTex]

2011


[BibTex]


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Waalbot II: Adhesion recovery and improved performance of a climbing robot using fibrillar adhesives

Murphy, M. P., Kute, C., Mengüç, Y., Sitti, M.

The International Journal of Robotics Research, 30(1):118-133, SAGE Publications Sage UK: London, England, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Automated 2-D nanoparticle manipulation using atomic force microscopy

Onal, C. D., Ozcan, O., Sitti, M.

IEEE Transactions on Nanotechnology, 10(3):472-481, IEEE, 2011 (article)

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[BibTex]

[BibTex]


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Biaxial mechanical modeling of the small intestine

Bellini, C., Glass, P., Sitti, M., Di Martino, E. S.

Journal of the mechanical behavior of biomedical materials, 4(8):1727-1740, Elsevier, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Assembly and disassembly of magnetic mobile micro-robots towards deterministic 2-D reconfigurable micro-systems

Diller, E., Pawashe, C., Floyd, S., Sitti, M.

The International Journal of Robotics Research, 30(14):1667-1680, SAGE Publications Sage UK: London, England, 2011 (article)

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[BibTex]

[BibTex]


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Modeling of stochastic motion of bacteria propelled spherical microbeads

Arabagi, V., Behkam, B., Cheung, E., Sitti, M.

Journal of Applied Physics, 109(11):114702, AIP, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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The effect of aspect ratio on adhesion and stiffness for soft elastic fibres

Aksak, B., Hui, C., Sitti, M.

Journal of The Royal Society Interface, 8(61):1166-1175, The Royal Society, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Enhancing adhesion of biologically inspired polymer microfibers with a viscous oil coating

Cheung, E., Sitti, M.

The Journal of Adhesion, 87(6):547-557, Taylor & Francis Group, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Piezoelectric polymer fiber arrays for tactile sensing applications

Sümer, B., Aksak, B., Şsahin, K., Chuengsatiansup, K., Sitti, M.

Sensor Letters, 9(2):457-463, American Scientific Publishers, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Control methodologies for a heterogeneous group of untethered magnetic micro-robots

Floyd, S., Diller, E., Pawashe, C., Sitti, M.

The International Journal of Robotics Research, 30(13):1553-1565, SAGE Publications, 2011 (article)

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[BibTex]

[BibTex]

2006


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An ultrasonic standing-wave-actuated nano-positioning walking robot: piezoelectric-metal composite beam modeling

Son, K. J., Kartik, V., Wickert, J. A., Sitti, M.

Journal of vibration and control, 12(12):1293-1309, Sage Publications, 2006 (article)

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[BibTex]

2006


[BibTex]


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IEEE TRANSACTIONS ON ROBOTICS

VOLZ, RICHARD A, TARN, TJ, MACIEJEWSKI, ANTHONY A, LEE, SUKHAN, BICCHI, ANTONIO, DE LUCA, ALESSANDRO, LUH, PETER B, TAYLOR, RUSSELL H, BEKEY, GEORGE A, ARAI, HIROHIKO, others

2006 (article)

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[BibTex]

[BibTex]


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Design methodology for biomimetic propulsion of miniature swimming robots

Behkam, B., Sitti, M.

Trans.-ASME Journal of Dynamic Systems Measurement and Control, 128(1):36, ASME, 2006 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Augmented reality user interface for an atomic force microscope-based nanorobotic system

Vogl, W., Ma, B. K., Sitti, M.

IEEE transactions on nanotechnology, 5(4):397-406, IEEE, 2006 (article)

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[BibTex]

[BibTex]


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Friction enhancement via micro-patterned wet elastomer adhesives on small intestinal surfaces

Kwon, J., Cheung, E., Park, S., Sitti, M.

Biomedical Materials, 1(4):216, IOP Publishing, 2006 (article)

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[BibTex]

[BibTex]


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Compliant and low-cost humidity nanosensors using nanoporous polymer membranes

Yang, B., Aksak, B., Lin, Q., Sitti, M.

Sensors and Actuators B: Chemical, 114(1):254-262, Elsevier, 2006 (article)

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[BibTex]

[BibTex]


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Task-based and stable telenanomanipulation in a nanoscale virtual environment

Kim, S., Sitti, M.

IEEE Transactions on automation science and engineering, 3(3):240-247, IEEE, 2006 (article)

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[BibTex]

[BibTex]


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Drawing suspended polymer micro-/nanofibers using glass micropipettes

Nain, A. S., Wong, J. C., Amon, C., Sitti, M.

Applied Physics Letters, 89(18):183105, AIP, 2006 (article)

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[BibTex]

[BibTex]


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Biologically inspired polymer microfibers with spatulate tips as repeatable fibrillar adhesives

Kim, S., Sitti, M.

Applied Physics Letters, 89(26):261911-261911, AIP, 2006 (article)

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Project Page [BibTex]


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Two-dimensional vision-based autonomous microparticle manipulation using a nanoprobe

Pawashe, C., Sitti, M.

Journal of Micromechatronics, 3(3):285-306, Brill, 2006 (article)

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[BibTex]

[BibTex]


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A biomimetic climbing robot based on the gecko

Menon, C., Sitti, M.

Journal of Bionic Engineering, 3(3):115-125, 2006 (article)

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[BibTex]

[BibTex]


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Proximal probes based nanorobotic drawing of polymer micro/nanofibers

Nain, A. S., Amon, C., Sitti, M.

IEEE transactions on nanotechnology, 5(5):499-510, IEEE, 2006 (article)

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[BibTex]

[BibTex]


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In vivo diabetic wound healing with nanofibrous scaffolds modified with gentamicin and recombinant human epidermal growth factor

Dwivedi, C., Pandey, I., Pandey, H., Patil, S., Mishra, S. B., Pandey, A. C., Zamboni, P., Ramteke, P. W., Singh, A. V.

Journal of Biomedical Materials Research Part A, 106(3):641-651, March (article)

Abstract
Abstract Diabetic wounds are susceptible to microbial infection. The treatment of these wounds requires a higher payload of growth factors. With this in mind, the strategy for this study was to utilize a novel payload comprising of Eudragit RL/RS 100 nanofibers carrying the bacterial inhibitor gentamicin sulfate (GS) in concert with recombinant human epidermal growth factor (rhEGF); an accelerator of wound healing. GS containing Eudragit was electrospun to yield nanofiber scaffolds, which were further modified by covalent immobilization of rhEGF to their surface. This novel fabricated nanoscaffold was characterized using scanning electron microscopy, Fourier transform infrared spectroscopy, and X‐ray diffraction. The thermal behavior of the nanoscaffold was determined using thermogravimetric analysis and differential scanning calorimetry. In the in vitro antibacterial assays, the nanoscaffolds exhibited comparable antibacterial activity to pure gentemicin powder. In vivo work using female C57/BL6 mice, the nanoscaffolds induced faster wound healing activity in dorsal wounds compared to the control. The paradigm in this study presents a robust in vivo model to enhance the applicability of drug delivery systems in wound healing applications. © 2017 Wiley Periodicals, Inc. J Biomed Mater Res Part A: 106A: 641–651, 2018.

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link (url) DOI [BibTex]


link (url) DOI [BibTex]


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Robotics Research

Tong, Chi Hay, Furgale, Paul, Barfoot, Timothy D, Guizilini, Vitor, Ramos, Fabio, Chen, Yushan, T\uumová, Jana, Ulusoy, Alphan, Belta, Calin, Tenorth, Moritz, others

(article)

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[BibTex]

[BibTex]