لایب سان

Ebook details:
عنوان: Mobile Microrobotics (Intelligent Robotics and Autonomous Agents series)
نویسنده: Metin Sitti
ناشر: The MIT Press (June 9, 2017)
زبان: English
شابک: 9780262036436, 978-0262036436
حجم: 96 Mb
فرمت: Image pdf with ocr

Contents List of Figures List of Tables Acknowledgments 1 Introduction 1.1 Definition of Different Size Scale Miniature Mobile Robots 1.2 Brief History of Microrobotics 1.3 Outline of the Book 2 Scaling Laws for Microrobots 2.1 Dynamic Similarity and Non-Dimensional Numbers 2.2 Scaling of Surface Area and Volume and Its Implications 2.3 Scaling of Mechanical, Electrical, Magnetic, and Fluidic Systems 2.4 Example Scaled-up Study of Small-Scale Locomotion Systems 2.5 Homework 3 Forces Acting on a Microrobot 3.1 Some Definitions 3.2 Surface Forces in Air and Vacuum 3.2.1 van der Waals forces 3.2.1.1 Repulsive forces 3.2.2 Capillary forces (surface tension) 3.2.2.1 Electrowetting 3.2.3 Electrostatic forces 3.2.4 Comparison of general forces on micron scale 3.2.5 Specific interaction forces 3.2.6 Other geometries 3.3 Surface Forces in Liquids 3.3.1 van der Waals forces in liquids 3.3.2 Double-layer forces 3.3.2.1 DLVO theory 3.3.3 Hydration (steric) forces 3.3.4 Hydrophobic forces 3.3.5 Summary 3.4 Adhesion 3.5 Elastic Contact Micro/Nanomechanics Models 3.5.1 Other contact geometries 3.5.2 Viscoelastic effects 3.6 Friction andWear 3.6.1 Sliding friction 3.6.2 Rolling friction 3.6.3 Spinning friction 3.6.4 Wear 3.7 Microfluidics 3.7.1 Viscous drag 3.7.2 Drag torque 3.7.3 Wall effects 3.8 Measurement Techniques for Microscale Force Parameters 3.9 Thermal Properties 3.10 Determinism versus Stochasticity 3.11 Homework 4 Microrobot Fabrication 4.1 Two-Photon Stereo Lithography 4.2 Wafer-Level Processes 4.3 Pattern Transfer 4.4 Surface Functionalization 4.5 Precision Microassembly 4.6 Self-Assembly 4.7 Biocompatibility and Biodegradability 4.8 Neutral Buoyancy 4.9 Homework 5 Sensors for Microrobots 5.1 Miniature Cameras 5.2 Microscale Sensing Principles 5.2.1 Capacitive sensing 5.2.2 Piezoresistive sensing 5.2.3 Optical sensing 5.2.4 Magnetoelastic remote sensing 6 On-Board Actuation Methods for Microrobots 6.1 Piezoelectric Actuation 6.1.1 Unimorph piezo actuators 6.1.2 Case study: Flapping wings-based small-scale flying robot actuation 6.1.3 Bimorph piezo actuators 6.1.4 Piezo film actuators 6.1.5 Polymer piezo actuators 6.1.6 Piezo fiber composite actuators 6.1.7 Impact drive mechanism using piezo actuators 6.1.8 Ultrasonic piezo motors 6.1.9 Piezoelectric materials as sensors 6.2 Shape Memory Materials-Based Actuation 6.3 Polymer Actuators 6.3.1 Conductive polymer actuators (CPAs) 6.3.2 Ionic polymer-metal composite (IPMC) actuators 6.3.3 Dielectric elastomer actuators (DEAs) 6.4 MEMS Microactuators 6.5 Magneto- and Electrorheological Fluid Actuators 6.6 Others 6.7 Summary 6.8 Homework 7 Actuation Methods for Self-Propelled Microrobots 7.1 Self-Generated Gradients or Fields-Based Microactuation 7.1.1 Self-electrophoretic propulsion 7.1.2 Self-diffusiophoretic propulsion 7.1.3 Self-generated microbubbles-based propulsion 7.1.4 Self-acoustophoretic propulsion 7.1.5 Self-thermophoretic propulsion 7.1.6 Self-generated Marangoni flows-based propulsion 7.1.7 Others 7.2 Bio-Hybrid Cell-Based Microactuation 7.2.1 Biological cells as actuators 7.2.1.1 Microorganism-based actuators 7.2.1.2 Muscle-based actuators 7.2.2 Integration of cells with artificial components 7.2.3 Control methods 7.2.4 Case study: Bacteria-driven microswimmers 7.3 Homework 8 Remote Microrobot Actuation 8.1 Magnetic Actuation 8.1.1 Magnetic field safety 8.1.2 Magnetic field creation 8.1.3 Special coil configurations 8.1.4 Non-uniform field setups 8.1.5 Driving electronics 8.1.6 Fields applied by permanent magnets 8.1.7 Magnetic actuation by a magnetic resonance imaging (MRI) system 8.1.8 6-DOF magnetic actuation 8.2 Electrostatic Actuation 8.3 Optical Actuation 8.3.1 Opto-thermomechanical microactuation 8.3.2 Opto-thermocapillary microactuation 8.4 Electrocapillary Actuation 8.5 Ultrasonic Actuation 8.6 Homework 9 Microrobot Powering 9.1 Required Power for Locomotion 9.2 On-Board Energy Storage 9.2.1 Microbatteries 9.2.2 Microscale fuel cells 9.2.3 Supercapacitors 9.2.4 Nuclear (radioactive) micropower sources 9.2.5 Elastic strain energy 9.3 Wireless (Remote) Power Delivery 9.3.1 Wireless power transfer by radio frequency (RF) fields and microwaves 9.3.2 Optical power beaming 9.4 Energy Harvesting 9.4.1 Solar cells harvesting incident light 9.4.2 Fuel or ATP in the robot operation medium 9.4.3 Microbatteries powered by an acidic medium 9.4.4 Mechanical vibration harvesting 9.4.5 Temperature gradient harvesting 9.4.6 Others 9.5 Homework 10 Microrobot Locomotion 10.1 Solid Surface Locomotion 10.1.1 Pulling- or pushing-based surface locomotion 10.1.2 Bio-inspired two-anchor crawling 10.1.3 Stick-slip-based surface crawling 10.1.4 Rolling 10.1.5 Microrobot surface locomotion examples 10.1.5.1 Magnetic actuation-based surface crawling 10.1.5.2 Surface crawling using light propulsion 10.1.5.3 Electric field-based surface crawling 10.1.5.4 Piezoelectric propulsion-based surface crawling 10.2 Swimming Locomotion in 3D 10.2.1 Pulling-based swimming 10.2.2 Flagellated or undulation-based bio-inspired swimming 10.2.3 Chemical propulsion-based swimming 10.2.4 Electrochemical and electroosmotic propulsion-based swimming 10.3 Water Surface Locomotion 10.3.1 Statics: Staying on fluid-air interface 10.3.2 Dynamic locomotion on fluid-air interface 10.4 Flight 10.5 Homework 11 Microrobot Localization and Control 11.1 Microrobot Localization 11.1.1 Optical tracking 11.1.2 Magnetic tracking 11.1.3 X-ray tracking 11.1.4 Ultrasound tracking 11.2 Control, Vision, Planning, and Learning 11.3 Multi-Robot Control 11.3.1 Addressing through localized trapping 11.3.2 Addressing through heterogeneous robot designs 11.3.3 Addressing through selective magnetic disabling 11.4 Homework 12 Microrobot Applications 12.1 Micropart Manipulation 12.1.1 Contact-based mechanical pushing manipulation 12.1.2 Capillary forces-based contact manipulation 12.1.3 Non-contact fluidic manipulation 12.1.4 Autonomous manipulation 12.1.5 Bio-object manipulation 12.1.6 Team manipulation 12.1.7 Microfactories 12.2 Health Care 12.3 Environmental Remediation 12.4 Reconfigurable Microrobots 12.5 Scientific Tools 13 Summary and Open Challenges 13.1 Status Summary 13.2 What Next? Bibliography Index

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