Acoustically powered surface-slipping mobile microrobots

Towards Independent Control of Multiple Magnetic Mobile Microrobots

In this paper, we have developed an approach for independent autonomous navigation of multiple microrobots under the influence of magnetic fields and validated it experimentally. We first developed a heuristics based planning algorithm for generating collision-free trajectories for the microrobots that are suitable to be executed by an available magnetic field. Second, we have modeled the dynam...

Development, Control and Evaluation of a Mobile Platform for Microrobots

This paper describes the development, control and evaluation of a mobile platform for microrobots. The platform uses laser-structured piezoceramic plates equipped with ruby hemispheres in order to continuously rotate three steel spheres using the stick-slip effect. The spheres roll on the working surface and can thus move the platform in two translational and one rotational degrees of freedom. ...

Autonomous dynamic obstacle avoidance for bacteria-powered microrobots (BPMs) with modified vector field histogram

In order to broaden the use of microrobots in practical fields, autonomous control algorithms such as obstacle avoidance must be further developed. However, most previous studies of microrobots used manual motion control to navigate past tight spaces and obstacles while very few studies demonstrated the use of autonomous motion. In this paper, we demonstrated a dynamic obstacle avoidance algori...

Mechanism of acoustically induced diffusional structuring of surface adatoms

Generation and characterization of surface layers on acoustically levitated drops.

Surface layers of natural and technical amphiphiles, e.g., octadecanol, stearic acid and related compounds as well as perfluorinated fatty alcohols (PFA), have been investigated on the surface of acoustically levitated drops. In contrast to Langmuir troughs, traditionally used in the research of surface layers at the air-water interface, acoustic levitation offers the advantages of a minimized ...