Sharif Digital Repository

This paper presents the prototype design, fabrication, and characterization of a magnetically actuated micropump. The pump body consists of three nozzle/diffuser elements and two pumping chambers connected to the ends of a flat-wall pumping cylinder. A cylindrical permanent magnet placed inside the pumping cylinder acts as a piston which reciprocates by using an external magnetic actuator driven by a motor. The magnetic piston is covered by a ferrofluid to provide self-sealing capability. A prototype composed of three bonded layers of polymethyl-methacrylate (PMMA) has been fabricated. Water has been successfully pumped at pressures of up to 750 Pa and flow rates of up to 700 μl min-1 while... 

We consider magnetic actuation and control of a spherical neutrally buoyant magnetic microrobot via magnetic coil setups and seek to design an optimal controller to reduce the required energy and coils’ currents. We showed that in currently employed setups, where the actuation frequency is few tens of Hertz, the nonlinear dynamics of the system can be well approximated by a set of linear constrained ones. The approximated model is obtained by consciously overlooking the rotational dynamics and the inertia terms in translational dynamics. We acquired the linear quadratic regulation (LQR) controller for the approximated model which is a constrained time-varying system. Finally, 3D manipulation... 

The attitude fault-tolerant control of a flexible satellite actuated by reaction wheels and magnetic torquer bars is investigated in this article. A low earth orbit is considered for moment perturbations such as drag and gravity gradient. Furthermore, the flexible panels attached to a rigid central body are modeled through the assumed mode approach by a finite set of bending modal motion. The ordinary differential equations of their generalized coordinates are found using Lagrange’s equation, and the resulting dynamical model is validated by comparing its simulation results to the NX Siemens software results. Finally, a fault-tolerant controller based on sliding mode control is suggested and... 

The attitude fault-tolerant control of a flexible satellite actuated by reaction wheels and magnetic torquer bars is investigated in this article. A low earth orbit is considered for moment perturbations such as drag and gravity gradient. Furthermore, the flexible panels attached to a rigid central body are modeled through the assumed mode approach by a finite set of bending modal motion. The ordinary differential equations of their generalized coordinates are found using Lagrange’s equation, and the resulting dynamical model is validated by comparing its simulation results to the NX Siemens software results. Finally, a fault-tolerant controller based on sliding mode control is suggested and... 

This paper presents the prototype design and fabrication of a magnetically actuated miniature pump that utilizes self-sealing capability of ferrofluid-covered permanent magnets in both pumping and valving mechanisms. The valving action is performed by employing one active valve along with two nozzle/diffuser elements. Two cylindrical permanent magnets are placed inside the flat-wall channels: One magnet acts as the active valve and the other one serves as a reciprocating piston actuating the working fluid. In order to seal the gaps between the channel walls and the permanent magnet of the valve/piston, ferrofluid is used to cover the surfaces of both magnets. The valve and the piston are... 

A magnetic actuation system is a promising tool for untethered manipulation at the microscale that medical treatment can benefit from. This paper proposes a new magnetic actuation system that comprises of two coaxial coils on a rotary table. A fixed workspace is placed between coils. The proposed system is able to generate magnetic force with desired direction and magnitude in a plane. The conducted simulation and experiment confirm the capability of the proposed system to control the position of the microrobot. © 2019 IEEE  

In this study, a novel prototype high-efficiency miniature pump that uses magnetic properties of a ferrofluid in both pumping and valving mechanisms is presented. The minichannel consisting of a cylindrical pumping chamber, a check valve, an inlet and an outlet, comprises six bonded layers of PMMA. A cylindrical permanent magnet that is placed inside the chamber and is externally actuated by a motorized off-center permanent magnet, functions as a revolving piston which sweeps the perimeter of the cylinder. Ferrofluid is used to cover the gaps between the magnetic piston and the channel walls, also serves as a separating plug between the inlet and the outlet of the chamber preventing...