Swimming micro-robots have great potential in biomedical applications such as targeted drug delivery, medical diagnosis, and destroying blood clots in arteries. Inspired by swimming microorganisms, micro-robots can move in biofluids with helical tails attached to their bodies. In order to design and navigate micro-robots, hydrodynamic characteristics of the flow field must be understood well. T...

Force control is very important for many practical manipulation tasks of robot manipulators, such as, assembly, grinding, deburring that associate with interaction between the end-effector of the robot and the environment. Force control of the robot manipulator can be break down into two categories: Position/Force Hybrid Control and Impedance Control. The former is focused on regulation of both...

This paper discusses the design of micro-robot legs based on the skiing principle using an improved version of the inchworm motors for the SMART DUST program. Four inchworm motors are attached to each of the two parallel sides of a SMART DUST mote to serve as the ski legs and support legs for the dust mote. The ski legs push the micro-robot at 75° from the surface and are capable of moving a mi...

This paper addresses a method of non-intrusive local inspection of surface and sub-surface conditions, interfaces, laminations and seals in both space vehicle and ground operations with an integrated suite of imaging sensors during pre-launch operations. It employs an advanced Raman spectrophotometer with additional spectrophe tometers and lidar mounted on a flying robot to constantly monitor t...

A Brain Computer Interface (BCI) is developed to navigate a micro-controller based robot using Emotiv sensors. The BCI system has a pipeline of 5 stagessignal acquisition, pre-processing, feature extraction, classification and CUDA interfacing. It shall aid in serving a prototype for physical movement of neurological patients who are unable to control or operate on their muscular movements. All...

In this paper we are considering an autonomous robot moving purposefully in a crowd of people (a marketplace). The robot should take into consideration the social costs of its movement, expressed in terms of violation of the personal space of the humans, blocking their path or even making physical contact with them. On the other hand, the full avoidance of any social cost might jeopardize the m...

In the biomedical field, the precise operation is required to achieve cell injection and genome analysis. To enhance these technologies, the special instrument with higher accuracy can provide the solution to these requirement. Several sophisticated instruments have been developed and some of them are equipped with the advanced sensor and actuator. In the meantime, the micro robotics has the po...