mathematical modelling of swimming soft microrobots

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Mathematical Modeling of Swimming Soft Microrobots
Author : Islam S.M. Khalil,Anke Klingner,Sarthak Misra
Publisher : Academic Press
Release Date : 2021-07-01
ISBN 10 : 0128169443
Pages : 232 pages

Mathematical Modelling of Swimming Soft Microrobots presents a theoretical framework for modelling of soft microrobotic systems based on resistive-force theory. Microorganisms are highly efficient at swimming regardless of the rheological and physical properties of the background fluids. This efficiency has inspired researchers and Engineers to develop microrobots that resemble the morphology and swimming strategies of microorganisms. The ultimate goal of this book is threefold: first, to relate resistive-force theory to externally and internally actuated microrobotic systems; second, to enable the readers to develop numerical models of a wide range of microrobotic systems; third, to enable the reader to optimize the design of the microrobot to enhance its swimming efficiency. Enable the readers to develop numerical models of a wide range of microrobotic systems Enable the reader to optimize the design of the microrobot to enhance its swimming efficiency The focus on the development of numerical models that enables Engineers to predict the behavior of the microrobots and optimize their designs to increase their swimming efficiency Provides videos to demonstrate experimental results and animations from the simulation results

Author : Minjun Kim,Anak Agung Julius
Publisher : William Andrew
Release Date : 2012-03-08
ISBN 10 : 145577894X
Pages : 328 pages

Microbiorobotics is a new engineering discipline that inherently involves a multidisciplinary approach (mechanical engineering, cellular biology, mathematical modeling, control systems, synthetic biology, etc). Building robotics system in the micro scale is an engineering task that has resulted in many important applications, ranging from micromanufacturing techniques to cellular manipulation. However, it is also a very challenging engineering task. One of the reasons is because many engineering ideas and principles that are used in larger scales do not scale well to the micro-scale. For example, locomotion principles in a fluid do not function in the same way, and the use of rotational motors is impractical because of the difficulty of building of the required components. Microrobotics is an area that is acknowledged to have massive potential in applications from medicine to manufacturing. This book introduces an inter-disciplinary readership to the toolkit that micro-organisms offer to micro-engineering The design of robots, sensors and actuators faces a range of techology challenges at the micro-scale. This book shows how biological techniques and materials can be used to meet these challenges World-class multi-disciplanry editors and contributors leverage insights from engineering, mathematical modeling and the life sciences – creating a novel toolkit for microrobotics

Mobile Microrobotics
Author : Metin Sitti
Publisher : MIT Press
Release Date : 2017-06-09
ISBN 10 : 0262036436
Pages : 271 pages

The first textbook on micron-scale mobile robotics, introducing the fundamentals of design, analysis, fabrication, and control, and drawing on case studies of existing approaches. Progress in micro- and nano-scale science and technology has created a demand for new microsystems for high-impact applications in healthcare, biotechnology, manufacturing, and mobile sensor networks. The new robotics field of microrobotics has emerged to extend our interactions and explorations to sub-millimeter scales. This is the first textbook on micron-scale mobile robotics, introducing the fundamentals of design, analysis, fabrication, and control, and drawing on case studies of existing approaches. The book covers the scaling laws that can be used to determine the dominant forces and effects at the micron scale; models forces acting on microrobots, including surface forces, friction, and viscous drag; and describes such possible microfabrication techniques as photo-lithography, bulk micromachining, and deep reactive ion etching. It presents on-board and remote sensing methods, noting that remote sensors are currently more feasible; studies possible on-board microactuators; discusses self-propulsion methods that use self-generated local gradients and fields or biological cells in liquid environments; and describes remote microrobot actuation methods for use in limited spaces such as inside the human body. It covers possible on-board powering methods, indispensable in future medical and other applications; locomotion methods for robots on surfaces, in liquids, in air, and on fluid-air interfaces; and the challenges of microrobot localization and control, in particular multi-robot control methods for magnetic microrobots. Finally, the book addresses current and future applications, including noninvasive medical diagnosis and treatment, environmental remediation, and scientific tools.

Control Systems Design of Bio-Robotics and Bio-Mechatronics with Advanced Applications
Author : Ahmad Taher Azar
Publisher : Academic Press
Release Date : 2019-11-30
ISBN 10 : 0128174641
Pages : 502 pages

Control Systems Design of Bio-Robotics and Bio-Mechatronics with Advanced Applications delivers essential and advanced bioengineering information on the application of control and robotics technologies in the life sciences. Judging by what we have witnessed so far, this exciting field of control systems and robotics in bioengineering is likely to produce revolutionary breakthroughs over the next decade. While this book is intended for senior undergraduate or graduate students in both control engineering and biomedical engineering programs, it will also appeal to medical researchers and practitioners who want to enhance their quantitative understanding of physiological processes. Focuses on the engineering and scientific principles underlying the extraordinary performance of biomedical robotics and bio-mechatronics Demonstrates the application of principles for designing corresponding algorithms Presents the latest innovative approaches to medical diagnostics and procedures, as well as clinical rehabilitation from the point-of-view of dynamic modeling, system analysis and control

Soft Interfaces
Author : Lydéric Bocquet,David Quéré,Thomas A. Witten,Leticia F. Cugliandolo
Publisher : Oxford University Press
Release Date : 2017-09-22
ISBN 10 : 0192506404
Pages : 528 pages

Many of the distinctive and useful phenomena of soft matter come from its interaction with interfaces. Examples are the peeling of a strip of adhesive tape, the coating of a surface, the curling of a fiber via capillary forces, or the collapse of a porous sponge. These interfacial phenomena are distinct from the intrinsic behavior of a soft material like a gel or a microemulsion. Yet many forms of interfacial phenomena can be understood via common principles valid for many forms of soft matter. Our goal in organizing this school was to give students a grasp of these common principles and their many ramifications and possibilities. The Les Houches Summer School comprised over fifty 90-minute lectures over four weeks. Four four-lecture courses by Howard Stone, Michael Cates, David Nelson and L. Mahadevan served as an anchor for the program. A number of shorter courses and seminars rounded out the school. This volume collects the lecture notes of the school.

Mathematical Biofluiddynamics
Author : James Lighthill
Publisher : SIAM
Release Date : 1975
ISBN 10 : 1611970512
Pages : 281 pages

Addresses external biofluiddynamics concerning animal locomotion and internal biofluiddynamics concerning heat and mass transport.

Handbook of Biomechatronics
Author : Jacob Segil
Publisher : Academic Press
Release Date : 2018-11-29
ISBN 10 : 0128125403
Pages : 619 pages

Handbook of Biomechatronics provides an introduction to biomechatronic design as well as in-depth explanations of some of the most exciting and ground-breaking biomechatronic devices in the world today. Edited by Dr. Jacob Segil and written by a team of biomechatronics experts, the work begins with broad topics concerning biomechatronic design and components, followed by more detailed discussions of specific biomechatronic devices spanning many disciplines. This book is structured into three main parts: biomechatronic design, biomechatronic components, and biomechatronic devices. The biomechatronic design chapter discusses the history of biomechatronics, conceptual design theory, biomechatronic design methods, and design tools. The next section discusses the technologies involved in the following components: sensors, actuators, and control systems. The biomechatronic devices chapters contains distinct examples of biomechatronic devices spanning visual prostheses to brain-machine interfaces. Each chapter presents the development of these biomechatronic devices followed by an in-depth discussion of the current state of the art The only book that covers biomechatronic design, components, and devices in one comprehensive text Accessible for readers in multiple areas of study, such as bioengineering, computer science, electrical engineering, mechanical engineering, and chemical engineering Includes the most recent and groundbreaking advances and work in the biomechatronics field through industry and academic contributors

Mechanically Responsive Materials for Soft Robotics
Author : Hideko Koshima
Publisher : John Wiley & Sons
Release Date : 2020-02-18
ISBN 10 : 3527346201
Pages : 448 pages

Offers a comprehensive review of the research and development of mechanically responsive materials and their applications in soft robots Mechanically Responsive Materials for Soft Robotics offers an authoritative guide to the current state of mechanically responsive materials for the development of soft robotics. With contributions from an international panel of experts, the book examines existing mechanically responsive materials such as crystals, polymers, gels, and composites that are stimulated by light and heat. The book also explores the application of mechanical materials to soft robotics. The authors describe the many excellent mechanical crystals developed in recent years that show the ability to bend, twist, rotate, jump, self-heal, and shape memory. Mechanical polymer materials are described for evolution into artificial muscles, photomobile materials, bioinspired soft actuators, inorganic-organic hybrid materials, multi-responsive composite materials, and strain sensor materials. The application of mechanical materials to soft robots is just the beginning. This book reviews the many challenging and versatile applications, such as soft microrobots made from photoresponsive elastomers, four-dimensional printing for assembling soft robots, self-growing of soft robots like plants, and biohybrid robots using muscle tissue. This important book: -Explores recent developments in the use of soft smart materials in robotic systems -Covers the full scope of mechanically responsive materials: polymers, crystals, gels, and nanocomposites -Deals with an interdisciplinary topic of advanced smart materials research -Contains extensive descriptions of current and future applications in soft robotics Written for materials scientists, polymer chemists, photochemists, physical chemists, solid state chemists, inorganic chemists, and robotics engineers, Mechanically Responsive Materials for Soft Robotics offers a comprehensive and timely review of the most recent research on mechanically responsive materials and the manufacture of soft robotics.

Mathematics Applied to Continuum Mechanics
Author : Lee A. Segel
Publisher : SIAM
Release Date : 1977-01-01
ISBN 10 : 9780898719086
Pages : 590 pages

This book focuses on the fundamental ideas of continuum mechanics by analyzing models of fluid flow and solid deformation and examining problems in elasticity, water waves, and extremum principles. Mathematics Applied to Continuum Mechanics gives an excellent overview of the subject, with an emphasis on clarity, explanation, and motivation. Audience: upper-level undergraduate and graduate students in the fields of applied mathematics, science, and engineering.

Electromagnetic Actuation and Sensing in Medical Robotics
Author : Hongliang Ren,Jinji Sun
Publisher : Springer
Release Date : 2017-12-30
ISBN 10 : 9811060355
Pages : 219 pages

This book highlights electromagnetic actuation (EMA) and sensing systems for a broad range of applications including targeted drug delivery, drug-release-rate control, catheterization, intravitreal needleless injections, wireless magnetic capsule endoscopy, and micromanipulations. It also reviews the state-of-the-art magnetic actuation and sensing technologies with remotely controlled targets used in biomedicine.

Label-Free Super-Resolution Microscopy
Author : Vasily Astratov
Publisher : Springer Nature
Release Date : 2019-08-31
ISBN 10 : 3030217221
Pages : 487 pages

This book presents the advances in super-resolution microscopy in physics and biomedical optics for nanoscale imaging. In the last decade, super-resolved fluorescence imaging has opened new horizons in improving the resolution of optical microscopes far beyond the classical diffraction limit, leading to the Nobel Prize in Chemistry in 2014. This book represents the first comprehensive review of a different type of super-resolved microscopy, which does not rely on using fluorescent markers. Such label-free super-resolution microscopy enables potentially even broader applications in life sciences and nanoscale imaging, but is much more challenging and it is based on different physical concepts and approaches. A unique feature of this book is that it combines insights into mechanisms of label-free super-resolution with a vast range of applications from fast imaging of living cells to inorganic nanostructures. This book can be used by researchers in biological and medical physics. Due to its logically organizational structure, it can be also used as a teaching tool in graduate and upper-division undergraduate-level courses devoted to super-resolved microscopy, nanoscale imaging, microscopy instrumentation, and biomedical imaging.

Author : Minjun Kim,Anak Agung Julius,U Kei Cheang
Publisher : William Andrew
Release Date : 2017-03-18
ISBN 10 : 0323430198
Pages : 290 pages

Microbiorobotics: Biologically Inspired Microscale Robotic Systems, Second Edition presents information on a new engineering discipline that takes a multidisciplinary approach to accomplish precise manipulation of microscale spaces. Microorganisms have evolved various mechanisms to thrive in microscale environments and are therefore a useful tool for use in many applications, ranging from micromanufacturing techniques, to cellular manipulation. In the context of microrobotics, biological microrobots can directly harness the microorganisms for propulsive and sensing power and synthetic microrobots can mimic the microorganisms’ motions for effective locomotion. This second edition covers new advances and insights that have emerged in recent years. Several new chapters have been added on important new research areas, with existing chapters thoroughly revised. In particular, increased coverage is given to fluid dynamics of microswimmers in nature. Gives the reader an understanding of the fundamental changes in dynamics and fabrication techniques in the microenvironment Offers a unique two-pronged approach to microrobotics from a biological perspective, i.e. bioinspired engineering design of biological systems to accomplish engineering tasks Introduces an interdisciplinary readership to the toolkit that micro-organisms offer to micro-engineering