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2019


Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees
Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees

Baumann, D., Mager, F., Jacob, R., Thiele, L., Zimmerling, M., Trimpe, S.

ACM Transactions on Cyber-Physical Systems, 4(2):18, November 2019 (article)

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arXiv PDF DOI [BibTex]

2019


arXiv PDF DOI [BibTex]


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Sampling on Networks: Estimating Eigenvector Centrality on Incomplete Networks

Ruggeri, N., De Bacco, C.

International Conference on Complex Networks and Their Applications, November 2019 (article)

Abstract
We develop a new sampling method to estimate eigenvector centrality on incomplete networks. Our goalis to estimate this global centrality measure having at disposal a limited amount of data. This is the case inmany real-world scenarios where data collection is expensive, the network is too big for data storage capacityor only partial information is available. The sampling algorithm is theoretically grounded by results derivedfrom spectral approximation theory. We studied the problemon both synthetic and real data and tested theperformance comparing with traditional methods, such as random walk and uniform sampling. We show thatapproximations obtained from such methods are not always reliable and that our algorithm, while preservingcomputational scalability, improves performance under different error measures.

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Code Preprint pdf DOI [BibTex]

Code Preprint pdf DOI [BibTex]


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Dynamics of beneficial epidemics

Berdahl, A., Brelsford, C., De Bacco, C., Dumas, M., Ferdinand, V., Grochow, J. A., nt Hébert-Dufresne, L., Kallus, Y., Kempes, C. P., Kolchinsky, A., Larremore, D. B., Libby, E., Power, E. A., A., S. C., Tracey, B. D.

Scientific Reports, 9, pages: 15093, October 2019 (article)

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DOI [BibTex]

DOI [BibTex]


Resource-aware IoT Control: Saving Communication through Predictive Triggering
Resource-aware IoT Control: Saving Communication through Predictive Triggering

Trimpe, S., Baumann, D.

IEEE Internet of Things Journal, 6(3):5013-5028, June 2019 (article)

Abstract
The Internet of Things (IoT) interconnects multiple physical devices in large-scale networks. When the 'things' coordinate decisions and act collectively on shared information, feedback is introduced between them. Multiple feedback loops are thus closed over a shared, general-purpose network. Traditional feedback control is unsuitable for design of IoT control because it relies on high-rate periodic communication and is ignorant of the shared network resource. Therefore, recent event-based estimation methods are applied herein for resource-aware IoT control allowing agents to decide online whether communication with other agents is needed, or not. While this can reduce network traffic significantly, a severe limitation of typical event-based approaches is the need for instantaneous triggering decisions that leave no time to reallocate freed resources (e.g., communication slots), which hence remain unused. To address this problem, novel predictive and self triggering protocols are proposed herein. From a unified Bayesian decision framework, two schemes are developed: self triggers that predict, at the current triggering instant, the next one; and predictive triggers that check at every time step, whether communication will be needed at a given prediction horizon. The suitability of these triggers for feedback control is demonstrated in hardware experiments on a cart-pole, and scalability is discussed with a multi-vehicle simulation.

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PDF arXiv DOI [BibTex]

PDF arXiv DOI [BibTex]


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Demo Abstract: Fast Feedback Control and Coordination with Mode Changes for Wireless Cyber-Physical Systems

(Best Demo Award)

Mager, F., Baumann, D., Jacob, R., Thiele, L., Trimpe, S., Zimmerling, M.

Proceedings of the 18th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), pages: 340-341, 18th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), April 2019 (poster)

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arXiv PDF DOI [BibTex]

arXiv PDF DOI [BibTex]


Tailored Magnetic Springs for Shape-Memory Alloy Actuated Mechanisms in Miniature Robots
Tailored Magnetic Springs for Shape-Memory Alloy Actuated Mechanisms in Miniature Robots

Woodward, M. A., Sitti, M.

IEEE Transactions on Robotics, 35, 2019 (article)

Abstract
Animals can incorporate large numbers of actuators because of the characteristics of muscles; whereas, robots cannot, as typical motors tend to be large, heavy, and inefficient. However, shape-memory alloys (SMA), materials that contract during heating because of change in their crystal structure, provide another option. SMA, though, is unidirectional and therefore requires an additional force to reset (extend) the actuator, which is typically provided by springs or antagonistic actuation. These strategies, however, tend to limit the actuator's work output and functionality as their force-displacement relationships typically produce increasing resistive force with limited variability. In contrast, magnetic springs-composed of permanent magnets, where the interaction force between magnets mimics a spring force-have much more variable force-displacement relationships and scale well with SMA. However, as of yet, no method for designing magnetic springs for SMA-actuators has been demonstrated. Therefore, in this paper, we present a new methodology to tailor magnetic springs to the characteristics of these actuators, with experimental results both for the device and robot-integrated SMA-actuators. We found magnetic building blocks, based on sets of permanent magnets, which are well-suited to SMAs and have the potential to incorporate features such as holding force, state transitioning, friction minimization, auto-alignment, and self-mounting. We show magnetic springs that vary by more than 3 N in 750 $\mu$m and two SMA-actuated devices that allow the MultiMo-Bat to reach heights of up to 4.5 m without, and 3.6 m with, integrated gliding airfoils. Our results demonstrate the potential of this methodology to add previously impossible functionality to smart material actuators. We anticipate this methodology will inspire broader consideration of the use of magnetic springs in miniature robots and further study of the potential of tailored magnetic springs throughout mechanical systems.

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DOI [BibTex]


Thrust and Hydrodynamic Efficiency of the Bundled Flagella
Thrust and Hydrodynamic Efficiency of the Bundled Flagella

Danis, U., Rasooli, R., Chen, C., Dur, O., Sitti, M., Pekkan, K.

Micromachines, 10, 2019 (article)

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[BibTex]

[BibTex]


Microrobotics and Microorganisms: Biohybrid Autonomous Cellular Robots
Microrobotics and Microorganisms: Biohybrid Autonomous Cellular Robots

Alapan, Y., Yasa, O., Yigit, B., Yasa, I. C., Erkoc, P., Sitti, M.

Annual Review of Control, Robotics, and Autonomous Systems, 2019 (article)

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[BibTex]

[BibTex]


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X-ray Optics Fabrication Using Unorthodox Approaches

Sanli, U., Baluktsian, M., Ceylan, H., Sitti, M., Weigand, M., Schütz, G., Keskinbora, K.

Bulletin of the American Physical Society, APS, 2019 (article)

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[BibTex]

[BibTex]


Nitrogen doped carbon quantum dots demonstrate no toxicity under in vitro conditions in a cervical cell line and in vivo in Swiss albino mice
Nitrogen doped carbon quantum dots demonstrate no toxicity under in vitro conditions in a cervical cell line and in vivo in Swiss albino mice

Singh, V., Kashyap, S., Yadav, U., Srivastava, A., Singh, A. V., Singh, R. K., Singh, S. K., Saxena, P. S.

Toxicology research, 8, Oxford University Press, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


Multifarious Transit Gates for Programmable Delivery of Bio‐functionalized Matters
Multifarious Transit Gates for Programmable Delivery of Bio‐functionalized Matters

Hu, X., Torati, S. R., Kim, H., Yoon, J., Lim, B., Kim, K., Sitti, M., Kim, C.

Small, Wiley Online Library, 2019 (article)

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[BibTex]

[BibTex]


Multi-functional soft-bodied jellyfish-like swimming
Multi-functional soft-bodied jellyfish-like swimming

Ren, Z., Hu, W., Dong, X., Sitti, M.

Nature communications, 10, 2019 (article)

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[BibTex]


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Welcome to Progress in Biomedical Engineering

Sitti, M.

Progress in Biomedical Engineering, 1, IOP Publishing, 2019 (article)

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[BibTex]

[BibTex]


The near and far of a pair of magnetic capillary disks
The near and far of a pair of magnetic capillary disks

Koens, L., Wang, W., Sitti, M., Lauga, E.

Soft Matter, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


Aerial robot control in close proximity to ceiling: A force estimation-based nonlinear mpc
Aerial robot control in close proximity to ceiling: A force estimation-based nonlinear mpc

Kocer, B. B., Tiryaki, M. E., Pratama, M., Tjahjowidodo, T., Seet, G. G. L.

arXiv preprint arXiv:1907.13594, 2019 (article)

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[BibTex]

[BibTex]


Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces
Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces

Song, S., Drotlef, D., Paik, J., Majidi, C., Sitti, M.

Extreme Mechanics Letters, Elsevier, 2019 (article)

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[BibTex]


Multifunctional and biodegradable self-propelled protein motors
Multifunctional and biodegradable self-propelled protein motors

Pena-Francesch, A., Giltinan, J., Sitti, M.

Nature communications, 10, Nature Publishing Group, 2019 (article)

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[BibTex]

[BibTex]


Review of emerging concepts in nanotoxicology: opportunities and challenges for safer nanomaterial design
Review of emerging concepts in nanotoxicology: opportunities and challenges for safer nanomaterial design

Singh, A. V., Laux, P., Luch, A., Sudrik, C., Wiehr, S., Wild, A., Santamauro, G., Bill, J., Sitti, M.

Toxicology Mechanisms and Methods, 2019 (article)

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[BibTex]

[BibTex]


Graphene oxide synergistically enhances antibiotic efficacy in Vancomycin resistance Staphylococcus aureus
Graphene oxide synergistically enhances antibiotic efficacy in Vancomycin resistance Staphylococcus aureus

Singh, V., Kumar, V., Kashyap, S., Singh, A. V., Kishore, V., Sitti, M., Saxena, P. S., Srivastava, A.

ACS Applied Bio Materials, ACS Publications, 2019 (article)

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[BibTex]

[BibTex]


In Vivo Biocompatibility of Electrospun Biodegradable Dual Carrier (Antibiotic + Growth Factor) in a Mouse Model-Implications for Rapid Wound Healing
In Vivo Biocompatibility of Electrospun Biodegradable Dual Carrier (Antibiotic + Growth Factor) in a Mouse Model-Implications for Rapid Wound Healing

Dwivedi, C., Pandey, H., Pandey, A. C., Patil, S., Ramteke, P. W., Laux, P., Luch, A., Singh, A. V.

Pharmaceutics, Multidisciplinary Digital Publishing Institute, 2019 (article)

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[BibTex]

[BibTex]


Cancer-selective nanoparticles for combinatorial siRNA delivery to primary human GBM in vitro and in vivo
Cancer-selective nanoparticles for combinatorial siRNA delivery to primary human GBM in vitro and in vivo

Kozielski, K. L., Ruiz-Valls, A., Tzeng, S. Y., Guerrero-Cázares, H., Rui, Y., Li, Y., Vaughan, H. J., Gionet-Gonzales, M., Vantucci, C., Kim, J., others,

Biomaterials, 209, Elsevier, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


ENGINEERING Bio-inspired robotic collectives
ENGINEERING Bio-inspired robotic collectives

Sitti, M.

Nature, 567, pages: 314-315, Macmillan Publishers Ltd., London, England, 2019 (article)

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[BibTex]

[BibTex]


Shape-encoded dynamic assembly of mobile micromachines
Shape-encoded dynamic assembly of mobile micromachines

Alapan, Y., Yigit, B., Beker, O., Demirörs, A. F., Sitti, M.

Nature, 18, 2019 (article)

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[BibTex]

[BibTex]


Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications
Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications

Singh, A. V., Jahnke, T., Xiao, Y., Wang, S., Yu, Y., David, H., Richter, G., Laux, P., Luch, A., Srivastava, A., Saxena, P. S., Bill, J., Sitti, M.

Journal of nanoscience and nanotechnology, 19, American Scientific Publishers, 2019 (article)

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[BibTex]

[BibTex]


Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules
Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules

Sreekanth, K. V., Sreejith, S., Alapan, Y., Sitti, M., Lim, C. T., Singh, R.

Advanced Optical Materials, 2019 (article)

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[BibTex]

[BibTex]


Mobile microrobots for active therapeutic delivery
Mobile microrobots for active therapeutic delivery

Erkoc, P., Yasa, I. C., Ceylan, H., Yasa, O., Alapan, Y., Sitti, M.

Advanced Therapeutics, Wiley Online Library, 2019 (article)

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DOI [BibTex]


Cutting the Cord: Progress in Untethered Soft Robotics and Actuators
Cutting the Cord: Progress in Untethered Soft Robotics and Actuators

Li, M., Ostrovsky-Snider, N. A., Sitti, M., Omenetto, F. G.

MRS Advances, 4, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


Micro-nanorobots: Important considerations when developing novel drug delivery platforms
Micro-nanorobots: Important considerations when developing novel drug delivery platforms

Singh, A. V., Ansari, M. H. D., Laux, P., Luch, A.

Expert Opinion on Drug Delivery, 16, Taylor & Francis, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


Strain-Visualization with Ultrasensitive Nanoscale Crack-Based Sensor Assembled with Hierarchical Thermochromic Membrane
Strain-Visualization with Ultrasensitive Nanoscale Crack-Based Sensor Assembled with Hierarchical Thermochromic Membrane

Park, B., Kim, J. U., Kim, J., Tahk, D., Jeong, C., Ok, J., Shin, J. H., Kang, D., Kim, T.

Advanced Functional Materials, 29, Wiley Online Library, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


A force-measuring and behaviour-recording system consisting of 24 individual 3D force plates for the study of single limb forces in climbing animals on a quasi-cylindrical tower
A force-measuring and behaviour-recording system consisting of 24 individual 3D force plates for the study of single limb forces in climbing animals on a quasi-cylindrical tower

Ji, A., Yuan, S., Endlein, T., Hill, I. D., Wang, W., Wang, H., Jiang, N., Zhao, Z., Barnes, W. J. P., Dai, Z.

Bioinspiration \& biomimetics, IOP Publishing, 2019 (article)

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[BibTex]

[BibTex]


Learning to Navigate Endoscopic Capsule Robots
Learning to Navigate Endoscopic Capsule Robots

Turan, M., Almalioglu, Y., Gilbert, H. B., Mahmood, F., Durr, N. J., Araujo, H., Sarı, A. E., Ajay, A., Sitti, M.

IEEE Robotics and Automation Letters, 4, 2019 (article)

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[BibTex]

[BibTex]


Order and Information in the Phases of a Torque-driven Artificial Collective System
Order and Information in the Phases of a Torque-driven Artificial Collective System

Wang, W., Gardi, G., Kishore, V., Koens, L., Son, D., Gilbert, H., Harwani, P., Lauga, E., Sitti, M.

arXiv preprint arXiv:1910.11226, 2019 (article)

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[BibTex]

[BibTex]


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Electromechanical actuation of dielectric liquid crystal elastomers for soft robotics

Davidson, Z., Shahsavan, H., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M.

Bulletin of the American Physical Society, APS, 2019 (article)

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[BibTex]

[BibTex]


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A general electromechanical model for plates with integrated piezo-patches using spectral-Tchebychev method

Aghakhani, A., Motlagh, P. L., Bediz, B., Basdogan, I.

Journal of Sound and Vibration, 458, Elsevier, 2019 (article)

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[BibTex]

[BibTex]


The adoption of three-dimensional additive manufacturing from biomedical material design to 3d organ printing
The adoption of three-dimensional additive manufacturing from biomedical material design to 3d organ printing

Vikram Singh, A., Hasan Dad Ansari, M., Wang, S., Laux, P., Luch, A., Kumar, A., Patil, R., Nussberger, S.

Applied Sciences, 9, Multidisciplinary Digital Publishing Institute, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


Wearable, ultrawide-range, and bending-insensitive pressure sensor based on carbon nanotube network-coated porous elastomer sponges for human interface and healthcare devices
Wearable, ultrawide-range, and bending-insensitive pressure sensor based on carbon nanotube network-coated porous elastomer sponges for human interface and healthcare devices

Kim, S., Amjadi, M., Lee, T., Jeong, Y., Kwon, D., Kim, M. S., Kim, K., Kim, T., Oh, Y. S., Park, I.

ACS applied materials \& interfaces, ACS Publications, 2019 (article)

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[BibTex]

[BibTex]


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Helminthicidal and Larvicidal Potentials of Biogenic Silver Nanoparticles Synthesized from Medicinal Plant Momordica charantia

Shelar, A., Sangshetti, J., Chakraborti, S., Singh, A. V., Patil, R., Gosavi, S.

Medicinal Chemistry, 25, Bentham Science Publishers, 2019 (article)

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DOI [BibTex]

DOI [BibTex]

2016


A New Perspective and Extension of the Gaussian Filter
A New Perspective and Extension of the Gaussian Filter

Wüthrich, M., Trimpe, S., Garcia Cifuentes, C., Kappler, D., Schaal, S.

The International Journal of Robotics Research, 35(14):1731-1749, December 2016 (article)

Abstract
The Gaussian Filter (GF) is one of the most widely used filtering algorithms; instances are the Extended Kalman Filter, the Unscented Kalman Filter and the Divided Difference Filter. The GF represents the belief of the current state by a Gaussian distribution, whose mean is an affine function of the measurement. We show that this representation can be too restrictive to accurately capture the dependences in systems with nonlinear observation models, and we investigate how the GF can be generalized to alleviate this problem. To this end, we view the GF as the solution to a constrained optimization problem. From this new perspective, the GF is seen as a special case of a much broader class of filters, obtained by relaxing the constraint on the form of the approximate posterior. On this basis, we outline some conditions which potential generalizations have to satisfy in order to maintain the computational efficiency of the GF. We propose one concrete generalization which corresponds to the standard GF using a pseudo measurement instead of the actual measurement. Extending an existing GF implementation in this manner is trivial. Nevertheless, we show that this small change can have a major impact on the estimation accuracy.

am ics

PDF DOI Project Page [BibTex]

2016


PDF DOI Project Page [BibTex]