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A Fabrication Method of Neutrally-buoyant Magnetic Micro-robot to Improve Its Motion Control

Pedram, Alireza | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49820 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat Pishkenari, Hossein
  7. Abstract:
  8. Micro-robotics is one of the currently emerging technologies which has attracted attentions for its probable applications in different fields including biotechnology, diagnosis and treatment in medical engineering as well as general studies in micro-scale science and engineering. Magnetic micro-robotics is considered as the most promising group, primarily due to the biocompatibility of magnetic fields and advances in electronic circuits to produce and control such fields. One critical point in utilizing these robots is their high density in comparison with the working fluid and their tendency to sink. In this thesis, a method to fabricate buoyant magnetic robots has been proposed based on maskless photolithography as well as a method to measure the density of these tiny robots. Results have shown the better repeatability of the proposed method. Later, the system is modeled and different approaches have been implemented to control a typical robot optimally. Finally, based on the ability to tune the size and the place of the internal cavity, a method is proposed to simultaneously control two robots with a single input signal. The different responses in these robots are originated in the difference between their center of buoyancy and their center of mass resulting in a net buoyancy torque
  9. Keywords:
  10. Optimal Control ; Magnetic Micro-robot ; Mask-less Photolithography ; Buoyancy Torque ; High Density Magnetic Materials

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