Cooperative manipulation and transport of microobjects using multiple helical microcarriers

Controlled rolling of microobjects for autonomous manipulation

This paper presents our work in developing an autonomous micromanipulation system. The originality of our system is that it takes advantage of adhesion forces to grip micro-objects using an AFM (Atomic Force Microscopy) probe. A theoretical analysis of rolling conditions is carried out in order to achieve precise release of an object picked-up by adhesion. Vision control, based on the specifici...

Cooperative Grasping and Transport Using Multiple Quadrotors

In this paper, we consider the problem of controlling multiple quadrotor robots that cooperatively grasp and transport a payload in three dimensions. We model the quadrotors both individually and as a group rigidly attached to a payload. We propose individual robot control laws defined with respect to the payload that stabilize the payload along three-dimensional trajectories. We detail the des...

Networking Multiple Robots for Cooperative Manipulation

Enhancing the Cooperative Transport of Multiple Objects

In this paper we present an approach to the cooperative transport of multiple objects in swarm robotics. The approach is motivated by the observation that the performance of cooperative transport in insect colonies as well as in groups of robots grows in a super linear way with the number of individuals participating in the transport. The transport relies on a cart in which multiple objects are...

synthesis of amido alkylnaphthols using nano-magnetic particles and surfactants

we used dbsa and nano-magnetic for the synthesis of amido alkylnaphtols.