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Magnetic manipulation is a method used for biomedical applications to remotely control micro-robots in a contactless manner. The electromagnet manipulator should control a magnetic field with 3 degrees of freedom inside a region of interest. In various case studies, this field results from the superposition of three decoupled uniform magnetic fields. Each of them is individually generated by a different pair of Helmholtz coils. Such an arrangement requires the pairs to be nested within each other, inevitably reducing the working area’s size and degrading the whole system’s performance and integration. The proposed work aims to design a novel electromagnetic manipulator with the help of computational design, to explore beyond the Helmholtz coils arrangement. A topology optimization framework is developed for this purpose. It investigates the distribution of coils that achieves the best field uniformity for a fixed footprint while keeping the different degrees of freedom balanced.

Magnetic manipulation is a method used for biomedical applications to remotely control micro-robots in a contactless manner. The electromagnet manipulator should control a magnetic field with 3 degrees of freedom inside a region of interest. In various case studies, this field is the result of the superposition of three decoupled uniform magnetic fields. Each of them is individually generated by a different pair of Helmholtz coils. Such arrangement requires the pairs to be nested within each other, inevitably reducing the size of the working area, degrading the performance and the integration of the whole system. The proposed work aims to design a novel electromagnetic manipulator with the help of computational design, to explore beyond the Helmholtz coils arrangement. A topology optimization framework is developed for this purpose. It investigates the distribution of coils that achieves the largest working area, while keeping the different degrees of freedom balanced.

International audience; We envision swarms of mm-scale micro-robots to be able to carry out critical missions such as exploration and mapping for hazard detection and search and rescue. These missions share the need to reach full coverage of the explorable space and build a complete map of the environment. To minimize completion time, robots in the swarm must be able to exchange information about the environment with each other. However, communication between swarm members is often assumed to be perfect, an assumption that does not reflect real-world conditions, where impairments can affect the Packet Delivery Ratio (PDR) of the wireless links. This paper studies how communication impairments can have a drastic impact on the performance of a robotic swarm. We present Atlas 2.0, an exploration algorithm that natively takes packet loss into account. We simulate the effect of various PDRs on robotic swarm exploration and mapping in three different scenarios. Our results show that the time it takes to complete the mapping mission increases significantly as the PDR decreases: on average, halving the PDR triples the time it takes to complete mapping. We emphasise the importance of considering methods to compensate for the delay caused by lossy communication when designing and implementing algorithms for robotics swarm coordination.

The idea of remote magnetic guiding is developed from the underlying physics of a concept that allows for bijective force generation over the inner volume of magnet systems. This concept can equally be implemented by electro- or permanent magnets. Here, permanent magnets are in the focus because they offer many advantages. The equations of magnetic fields and forces as well as velocities are derived in detail and physical limits are discussed. The special hydrodynamics of nanoparticle dispersions under these circumstances is reviewed and related to technical constraints. The possibility of 3D guiding and magnetic imaging techniques are discussed. Finally, the first results in guiding macroscopic objects, superparamagnetic nanoparticles, and cells with incorporated nanoparticles are presented. The constructed magnet systems allow for orientation, movement, and acceleration of magnetic objects and, in principle, can be scaled up to human size.

International audience; One of the most fundamental capabilities of swarm robotics is their ability to cooperate. This implies that swarm robots must exchange information with each other or with a centralized controller. However, this communication is often assumed to be perfect, an assumption that does not reflect real-world conditions, where impairments can affect the Packet Delivery Ratio (PDR) over wireless links. One essential application of swarm robotic cooperation is exploration and mapping in a timely and accurate manner. This paper studies how communication impairments can have a drastic impact on the performance of robotic swarms in critical missions such as exploration. We use an improved version of the Atlas algorithm to simulate the effect of various PDRs on the exploration mission execution performance, with the key indicator being mapping completion time. Our results show that the time it takes to complete area exploration increases exponentially as the PDR decreases linearly. Based on our results, we emphasise the importance of considering methods that minimize the delay caused by lossy communication when designing and implementing algorithms for robotic swarm exploration.

Physically intelligent micro-robotic systems exploit information embedded in micro-robots, their colloidal cargo, and their milieu to interact, assemble, and form functional structures. Nonlinear anisotropic fluids such as nematic liquid crystals (NLCs) provide untapped opportunities to embed interactions via their topological defects, complex elastic responses, and ability to dramatically restructure in dynamic settings. Here a four-armed ferromagnetic micro-robot is designed and fabricated to embed and dynamically reconfigure information in the nematic director field, generating a suite of physical interactions for cargo manipulation. The micro-robot shape and surface chemistry are designed to generate a nemato-elastic energy landscape in the domain that defines multiple modes of emergent, bottom-up interactions with passive colloids. Micro-robot rotation expands the ability to sculpt interactions the energy landscape around a rotating micro-robot is dynamically reconfigured by complex far-from-equilibrium dynamics of the micro-robot’s companion topological defect. These defect dynamics allow transient information to be programmed into the domain and exploited. Robust micro-robotic manipulation strategies are demonstrated that exploit these diverse modes of nemato-elastic interaction to achieve cargo docking, transport, release, and assembly of complex reconfigurable structures at multi-stable sites. Such structures are of great interest to future developments of LC-based advanced optical device and micro-manufacturing in anisotropic environments.

Microrobots equipped with nanotechnology can perform many tasks, with fast and safe action, in this work, we propose the use of micro-robots based on nanotechnology for the treatment of wastewater, this implementation ensures effective treatment without contaminating more and with the option to reuse them, we show through simulations the physical and magnetic behavior of these microrobots under the action of an external magnetic field, as the main results, the behavior of the micro-robot could be observed in simulation and it was compared with the theoretical results for the folding of the microstructures and the interaction of forces Los microrobots equipados con nanotecnología pueden realizar muchas tareas, con acción rápida y segura, en este trabajo, proponemos el uso de micro-robots basados ??en nanotecnología para el tratamiento de aguas residuales, esta implementación asegura tratamiento eficaz sin contaminar más y con la opción de reutilizarlos, mostramos a través de simulaciones el comportamiento físico y magnético de estos micro-robots bajo la acción de un campo magnético externo, como principales resultados, el comportamiento del micro-robot se pudo observar en simulación y se comparó con los resultados teóricos para el plegamiento de las microestructuras y la interacción de fuerzas Magíster en Ingeniería Electrónica y de Computadores Maestría

This study presents the feasibility of using functionalized micro-robots to treat wastewater, contaminated with dyes such as Congo red and heavy metals such as arsenic, two types of micro-robots were tested, the first was immobilized with the enzyme laccase and the second type were functionalized with APTES, the micro-robots were tested in five concentrations of each contaminant and the treatment was tested for five hours. The maximum percentages of pollutant removal were found when using both types of micro robots, up to 65.6% for arsenic and 11.3% for Congo red. In addition, kinetic models were performed for each pollutant. A correlation is found between CR and the pseudo-second order because, thanks to the enzyme, two phenomena occur in this process, an adsorption phenomenon. and a catalytic one, on the other hand for the treatment of arsenic, the APTES functionalized micro-robots, show a greater correlation with the pseudo first order model, due to the adsorption phenomenon present in this treatment. Este estudio presenta la factibilidad de utilizar micro-robots funcionalizados para el tratamiento de aguas residuales, contaminadas con colorantes como rojo congo y metales pesados como arsénico, se probaron dos tipos de micro-robots, el primero fue inmovilizado con la enzima lacasa y el segundo tipo fueron funcionalizados con APTES, los micro-robots fueron probados en cinco concentraciones de cada contaminante y el tratamiento fue probado durante cinco horas. Los porcentajes máximos de remoción de contaminantes se encontraron al utilizar ambos tipos de micro robots, hasta un 65,6% para el arsénico y un 11,3% para el rojo congo. Además, se realizaron modelos cinéticos para cada contaminante. Se encuentra una correlación entre CR y el pseudo-segundo orden porque, gracias a la enzima, en este proceso ocurren dos fenómenos, un fenómeno de adsorción. y uno catalítico, por otro lado para el tratamiento de arsénico, los micro-robots funcionalizados con APTES, muestran una mayor correlación con el modelo de pseudo primer orden, debido al fenómeno de adsorción presente en este tratamiento. Magíster en Ingeniería Electrónica y de Computadores Maestría

International audience; Exploration and mapping is a fundamental capability of a swarm of robots: robots enter an unknown area, explore it, and collectively build a map of it. This capability is important regardless of whether the robots are crawling, flying,or swimming. Existing exploration and mapping algorithms tend to either be inefficient, or rely on having a dense swarm of robots.This paper introduces Atlas, an exploration and mapping algorithm for sparse swarms of robots, which completes a full exploration even in the extreme case of a single robot. We developan open-source simulator and show that Atlas out performs the state-of-the-art in terms of exploration speed and completeness of the resulting map.

This research report is a companion to the following paper: Atlas: Explorationand Mapping with a Sparse Swarm of Networked IoT Robots. Razanne Abu-Aisheh, FrancescoBronzino, Myriana Rifai, Brian Kilberg, Kris Pister, Thomas Watteyne. Workshop on WirelessSensors and Drones in Internet of Things (Wi-DroIT), part of DCOSS, 2020. It expands thatpaper by providing more detailed explanations and more complete results.Exploration and mapping is a fundamental capability of a swarm of robots: robots enter anunknown area, explore it, and collectively build a map of it. This capability is important regard-less of whether the robots are crawling, flying, or swimming. Existing exploration and mappingalgorithms tend to either be inefficient, or rely on having a dense swarm of robots. This paperintroduces Atlas, an exploration and mapping algorithm for sparse swarms of robots, which com-pletes a full exploration even in the extreme case of a single robot. We develop an open-sourcesimulator and show that Atlas outperforms the state-of-the-art in terms of exploration speed andcompleteness of the resulting map.

One of the most desired features of autonomous robotic systems is their ability to accomplish complex tasks with a minimum amount of sensory information. Often, however, the limited amount of information (simplicity of sensors) should be compensated by more precise and complex control. An optimal tradeoff between the simplicity of sensors and control would result in robots featuring better robustness, higher throughput of production and lower production costs, reduced energy consumption, and the potential to be implemented at very small scales. In our work we focus on a society of very simple robots (modeled as agents in a multi-agent system) that feature an &ldquo, extreme simplicity&rdquo, of both sensors and control. The agents have a single line-of-sight sensor, two wheels in a differential drive configuration as effectors, and a controller that does not involve any computing, but rather&mdash, a direct mapping of the currently perceived environmental state into a pair of velocities of the two wheels. Also, we applied genetic algorithms to evolve a mapping that results in effective behavior of the team of predator agents, towards the goal of capturing the prey in the predator-prey pursuit problem (PPPP), and demonstrated that the simple agents featuring the canonical (straightforward) sensory morphology could hardly solve the PPPP. To enhance the performance of the evolved system of predator agents, we propose an asymmetric morphology featuring an angular offset of the sensor, relative to the longitudinal axis. The experimental results show that this change brings a considerable improvement of both the efficiency of evolution and the effectiveness of the evolved capturing behavior of agents. Finally, we verified that some of the best-evolved behaviors of predators with sensor offset of 20&deg, are both (i) general in that they successfully resolve most of the additionally introduced, unforeseen initial situations, and (ii) robust to perception noise in that they show a limited degradation of the number of successfully solved initial situations.

El objetivo de este proyecto es diseñar y construir un micro-robot que cumpla con los requisitos para participar en la prueba del laberinto del concurso de micro-robots de la Universidad de Alcalá, Alcabot 2002. La prueba consiste en la navegación autónoma por un laberinto de 4x4 metros entre un punto de partida, situado en el interior del laberinto, y la salida. Ingeniería Técnica en Electrónica

The combination of micro synthetic structures with bacterial flagella motors represents an actual trend for the construction of self-propelled micro-robots. The development of methods for fabrication of these bacteria-based robots is a first crucial step towards the realization of functional miniature and autonomous moving robots. We present a novel scheme based on optical trapping to fabricate living micro-robots. By using holographic optical tweezers that allow three-dimensional manipulation in real time, we are able to arrange the building blocks that constitute the micro-robot in a defined way. We demonstrate exemplarily that our method enables the controlled assembly of living micro-robots consisting of a rod-shaped prokaryotic bacterium and a single elongated zeolite L crystal, which are used as model of the biological and abiotic components, respectively. We present different proof-of-principle approaches for the site-selective attachment of the bacteria on the particle surface. The propulsion of the optically assembled micro-robot demonstrates the potential of the proposed method as a powerful strategy for the fabrication of bio-hybrid micro-robots.

Scaling down robots to miniature size introduces many new challenges including memory and program size limitations, low processor performance and low power autonomy. In this paper we describe the concept and implementation of learning of a safe-wandering task with the autonomous micro-robots, Alice. We propose a simplified reinforcement learning algorithm based on one-step Q-learning that is optimized in speed and memory consumption. This algorithm uses only integer-based sum operators and avoids floating-point and multiplication operators. Finally, quality of learning is compared to a floating-point based algorithm., Robotics and Autonomous Systems, 48 (1), ISSN:0921-8890

El principal objetivo de este trabajo de fin de grado es la construcción de varios micro-robots como plataforma para la docencia. Este trabajo constara de dos partes una mecánica y otra electrónica. En cuanto a la mecánica diseñaremos el robot basándonos en el skybot. Para fabricar las piezas diseñadas se empleara una impresora 3D. En cuanto a la electrónica se emplearan varios tipos de sensores para aportar al robot una mayor flexibilidad. Se diseñara una shield impresa para la placa arduino con el acondicionamiento de dichos sensores y motores, ya que se utilizara arduino para la programación. En concreto se usara la tarjeta Arduino mega 2560. The main objective of this work is the construction of several micro-robots as a platform for teaching. This work will consist of two parts mechanics and other electronics. As regards the mechanical design the robot based on the skybot. To make the designed pieces using a printer 3D. As to the electronics, use various types of sensors to provide greater flexibility to the robot. They design a printed shield for arduino with conditioning of the sensors and motors, and to be used for programming arduino. Specifically, the board will use arduino mega 2560. Ingeniería Electrónica Industrial y Automática

Este Trabajo de Fin de Grado (TFG) trata de ilustrar la metodología y resultados del análisis y diseño del sistema de disparo y la estructura de un microrobot. En este primer capítulo, se intentará ofrecer al lector una visión general del objetivo del proyecto. Para poder enfocar los objetivos del trabajo de estudio, es importante introducir las condiciones y características de la competición en la que se desea participar con este Microrobot, Rococup Small Soccer League, por ello a continuación se explica el origen de la competición y una breve evolución histórica, además de dedicarle un capítulo a las normas de la competición. Enlazando con lo anterior, se desarrollarán los objetivos, tanto globales como particulares, que justifican la realización de este proyecto. Más concretamente, este trabajo se centra en el análisis y mejora de un prototipo de microrobot creado por el equipo Robosoccer 2010, los siguientes apartados tienen por objeto exponer la metodología de análisis empleada, comprobando cada uno de los sistemas que lo componen y decidiendo cuáles son las funciones a mejorar de forma que el nuevo diseño alcance las expectativas requeridas. Debido al carácter práctico de este documento, se han estructurado los capítulos de manera que se describirá la situación inicial del sistema objeto de estudio, y a continuación se propondrán las posibles mejoras o modificaciones justificando el rediseño de algunos elementos. La finalidad última del documento es servir como guía para desarrollar en el futuro un equipo completo de microrobots, por lo que se ha tratado de condensar la información, y detallar los pasos seguidos para el diseño de los sistemas. Ingeniería Electrónica Industrial y Automática

El principal objetivo de este proyecto es el diseño y construcción de una flota de diez microrobots como plataforma para la docencia en la programación de microcontroladores. Para ello se ha dividido el diseño y construcción en dos proyectos diferentes, una parte dedicada a la mecánica y otra la electrónica que es sobre la que se centra este proyecto. Para llevar a cabo el diseño de la electrónica de nuestro microrobot se realiza un estudio previo sobre los robots precedentes hasta el momento, y finalmente se decide montar dos placas, una encargada del control y otra para la potencia y polarización de sensores. En el apartado locomotor se opta por un método de desplazamiento simple pero efectivo, basado en dos ruedas motrices y una rueda loca, accionadas por unos servomotores de modelismo modificados para dar vueltas completas. En cuanto a la sensorización, se intenta que tenga una gran capacidad, para aportarle una mayor flexibilidad a la hora de programar diversas funciones, montando sensores de luz, ultrasonidos, infrarrojos y de contacto. Posteriormente se procede al diseño y construcción de un primer prototipo de pruebas, para el diseño electrónico se opta un programa de software libre, Kicad, un potente programa que permite diseñar desde los esquemas eléctricos hasta las PCBs y los Gerbers. Finalmente se hacen pequeñas modificaciones electrónicas sobre el primer prototipo y se procede a construir y probar el resto de los robots. ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- The main objective of this project is the design and construction of a fleet of ten microbots as a platform for teaching microcontroller programming. This has split the design and construction in two different projects, a section on the mechanics and other electronics that is focusing on this project. To carry out the design of the electronics of our microrobot is performed a preliminary study on the robots record so far, and finally decided to fit two plates, one for control and another for power and polarization sensors. In paragraph locomotor method you opt for a simple but effective displacement, based on two-wheel drive and a loose wheel, driven by a servo modified to modeling full turns. As for sensing, we try to have a great capacity to bring you greater flexibility to program different functions, riding light sensors, ultrasonic, infrared and contact. Then proceed to the design and construction of a test prototype for the electronic design you choose a free software program, Kicad, a powerful program that allows you to design from the wiring diagrams to the PCBs and the Gerbers. Finally, minor modifications are made on the first prototype electronic and proceeds to build and test the rest of the robots. Ingeniería Técnica en Electrónica

Im Rahmen dieser Dissertation wurde ein Mikroroboter-Kommunikationssystem entwickelt, das mobile, drahtlose, cm³-große Mikroroboter mit der Steuerungseinheit einer flexiblen, mikroroboterbasierten Mikromanipulationsstation verbindet. Um insbesondere die durch Skalierungseffekte ausgelösten Unwägbarkeiten bei der Handhabung und Manipulation von Mikroobjekten auszugleichen, setzen Mikromanipulations-Tischstationen vermehrt auf kooperierenden Mikrorobotereinsatz durch mobile, möglichst nur wenige Kubikzentimeter kleine Mikroroboter. Gegenwärtige Tischstationen sind jedoch noch weit davon entfernt, auf autonome, zu Inferenzprozessen fähige Mikroroboter mit Nanometerpräzision zurückgreifen zu können. Daher ist eine informationstechnische Anbindung der Mikroroboter an eine übergeordnete Manipulationsplanungs- und -steuerungseinheit durch ein drahtloses, für den Multirobotereinsatz geeignetes Kommunikationssystem unbedingt erforderlich. Nach Ableitung eines Anforderungskatalogs, der die Komplexität mikroroboterbasierter Mikromanipulationsstationen einerseits und die Einschränkungen aufgrund der stark miniaturisierten Mikrorobotersysteme andererseits berücksichtigt, wurden verschiedene Kommunikationsverfahren und —standards verglichen. Darauf basierend wurde ein Kommunikationssystem konzipiert und umgesetzt, welches drahtlosen, mobilen Mikrorobotern in Mikromanipulationsstationen eine möglichst robuste und schnelle Datenübertragung bei geringem Energiebedarf bietet. Herzstück bildet ein neu entwickeltes ASIC-Modul, das in jede Mikroroboterelektronik entweder in Form eines Hybrids oder aber direkt in einen Mikroroboter-Kontroll-ASIC integriert werden kann. Da sich das für den Multirobotereinsatz konzipierte Kommunikationssystem an bereits in der Industrie etablierten Standards orientiert, bietet es interessante Konzepte und Lösungsansätze, um unter Beachtung der Entwicklungs- und Herstellungskosten die Integration in Mikromanipulations-Tischstationen der neusten Generation ebenso wie die Adaption an bereits bestehende Mikromanipulatoren zu erleichtern. Within the scope of this dissertation a communication system for micro-robots was developed that links mobile wireless micro-robots of cm3 size with the control unit of a versatile, micro-robot-based micromanipulation station. In particular with a view to offsetting scale effects triggered by imponderables when handling and manipulating micro-objects, micro-manipulation table stations are turning increasingly towards cooperating micro-robot solutions utilizing mobile micro-robots of preferably just a few cubic centimetres in size. However, table stations are presently far from being able to turn to autonomous, inference-process capable micro-robots working to nanometre precision. Consequently, it is imperative to have a data link connecting the micro-robots to a higher-level manipulation planning and controlling unit by means of a wireless communication system that is suitable for deployment in multi-robot solutions. Various communication systems and standards were compared after drawing up a catalogue of requirements that takes into consideration the complexity of micro-robot-based micro-manipulation stations on the one hand and the restrictions arising from highly miniaturized micro-robotic systems on the other. This then formed the basis for the design and implementation of a communication system that offers robust and fast data transmissions in conjunction with low energy requirements for wireless mobile micro-robots deployed in micro-manipulations stations. At its core is a newly developed ASIC module that can be integrated in any micro-robot electronics as a hybrid solution or even directly in a micro-robot control ASIC. And because the communication system, which is designed for use in multi-robot solutions, is oriented on established standards it offers interesting concepts and approaches to solutions that allow integration in the latest generation of micro-manipulation table stations as equally as adaptation to legacy micro-manipulators whilst at the same time taking into account the costs for development and manufacturing.

Living organisms fascinate by their ability to use available physical, chemical or optical systems for ensure their survival in environment. Social insects use chemical perception system not only for sensing, but also advanced it for communication purposes. The leaved pheromone enable ants to find the shortest distance between a food source and the colony, to coordinate insect activities or to elaborate behavioral strategies. In order to mimic this capability in robotic systems, robots have to be equipped with the sensor and actuator systems as well as possess corresponding behavioral algorithms. The presented work is inspired by the capability of social insects to communicate through physical pheromone. Instead of spreading chemical substances, robots can leave, recognize and follow a colored ink trail. The topic of this thesis is a optoelectronic sensor system, capable of reliable recognizing colored trails and colored objects. Using the developed optoelectronic solution, four behavioral algorithms (say, finding and following a colored line) are developed and tested in real-time experiments. The experiments are based on three different scenarios (say, searching for a food source). The outcome of the experiments, done in a swarm of micro-robots Jasmine, prove the chosen solution are successful. Validerat; 20101217 (root)