CPS: Medium: Dense Networks of Bacteria Propelled Micro-Robotic Swarms

CPS:中:细菌驱动的微型机器人群的密集网络

基本信息

  • 批准号:
    1135850
  • 负责人:
  • 金额:
    $ 120万
  • 依托单位:
  • 依托单位国家:
    美国
  • 项目类别:
    Standard Grant
  • 财政年份:
    2011
  • 资助国家:
    美国
  • 起止时间:
    2011-09-01 至 2016-08-31
  • 项目状态:
    已结题

项目摘要

This project aims to develop a computational framework and a physical platform for enabling dense networks of micro-robotic swarms for medical applications. The approach relies on a new stochastic framework for design and analysis of dense networks, as well as new fabrication and characterization methods for building and understanding bacteria propelled micro-robotic swarms. This project enhances the CPS science beyond passive networks of millimeter-scale bio-implantable devices with active networks of micro-robotic swarms that could be more effective in combating various critical diseases with minimal impact on the human body.Three major research objectives are proposed in this project: 1) Statistical physics inspired approach to the modeling and analysis of dense networks of swarms: The theory envisioned for characterizing the dynamics of dense networks of swarms aims at achieving ?beyond Turing? computation via dense networks, designing autonomous reliable communication protocols for dense networks, and estimating and controlling their performance; 2) Fabrication and steering of swarms of bacteria propelled swimming micro-robots: Large numbers of both chemotactic and magnetotactic bacteria integrated micro-robotic bodies will be fabricated using self-assembly and micro/nano-fabrication methods. Chemotaxis and magnetotaxis will be respectively used as passive and active steering mechanisms for navigating the swarms of micro-robots in small spaces to perform specified tasks; 3) Characterization of the behavior and control of bacteria propelled micro-robotic swarms: To validate and fine tune the proposed computational models, the motion and behavior of single and large numbers of bacteria propelled micro-robots will be characterized using optical and other microscopy methods.Intellectual Merit: The research breakthrough proposed herein consists of building a new physical platform for micro-robotic swarms by using attached bacteria as on-board actuators and chemotaxis and magnetotaxis as passive and active steering control methods, and developing a new computational dense network framework for designing and analyzing such stochastic micro-robotic swarms. The statistical computational framework to be developed in this study will improve understanding of swarming behavior and control of large numbers of bacteria propelled micro-robots. This framework offers an integrated approach towards CPS design that is meant to operate under uncertainty conditions, yet be able to succeed in performing a specified task through self-organization and collective behavior. This bottom-top approach is meant to improve the theoretical foundations of the current computational models of CPS. Broader Impacts: The resulting computational framework and the physical platform could be adapted to a wide range of different stochastic dense network systems ranging from migration of cancer cell populations or dynamics of virus populations to immune system support and modeling. The proposed swarms of bacteria integrated micro-robots have potential future applications in health-care for the diagnosis of diseases and targeted drug delivery inside the stagnant or low velocity fluids of the human body or the medical diagnosis inside lab-on-a-chip microfluidic devices. Such health-care applications could improve the welfare of our society. To foster learning and training of next generation CPS workforce, the PIs plan to emphasize a cross-disciplinary approach to teaching topics that are usually offered in disjoint tracks. The PIs will integrate the CPS research activities in this study into their newly developed courses, and they will also teach one of these courses jointly. As a joint international educational activity, a three-day Summer School will be held alternately in US and Europe every year on various CPS topics related to our project. This will help building a strong international CPS community and training US and European students in CPS topics. The PIs will present the research results of this project to children, K-12 students, K-12 teachers, IEEE and ACM student members, and college students inside and outside of USA through public lectures. This project and the Sloan Foundation will support underrepresented and minority graduate students in the project. Moreover, underrepresented minority undergraduate students will be trained through the CMU ICES summer outreach program called The SURE Thing and the NSF REU program.
该项目旨在开发一个计算框架和一个物理平台,以实现用于医疗应用的微型机器人密集网络。该方法依赖于一种新的随机框架来设计和分析密集网络,以及新的制造和表征方法来构建和理解细菌驱动的微型机器人群。该项目将CPS科学提升到毫米级生物植入设备的被动网络之外,并将微型机器人群体的主动网络提升到可以更有效地对抗各种严重疾病,同时对人体的影响最小。该项目提出了三个主要研究目标:1)统计物理启发的密集群体网络建模和分析方法:该理论设想的特点密集网络的动态群的目的是实现?超越图灵?通过密集网络进行计算,为密集网络设计自主可靠的通信协议,并估计和控制它们的性能; 2)细菌群驱动的游泳微型机器人的制造和操纵:将使用自组装和微/纳米制造方法制造大量趋化性和趋磁性细菌集成的微型机器人主体。趋化性和趋磁性将分别用作被动和主动转向机制,用于在小空间中导航微型机器人群以执行指定任务; 3)表征细菌推进的微型机器人群的行为和控制:为了验证和微调所提出的计算模型,单个和大量细菌驱动的微型机器人的运动和行为将使用光学和其他显微镜方法来表征。智力优点:本文提出的研究突破包括建立一个新的物理平台的微型机器人群,通过使用附着的细菌作为板载执行器和趋化性和趋磁性作为被动和主动转向控制方法,并开发一个新的计算密集网络框架,用于设计和分析这种随机的微型机器人群。在这项研究中开发的统计计算框架将提高对群集行为的理解和对大量细菌驱动的微型机器人的控制。这个框架提供了一个综合的CPS设计方法,这意味着在不确定的条件下运行,但能够成功地执行指定的任务,通过自组织和集体行为。这种自下而上的方法是为了改善目前的CPS计算模型的理论基础。 更广泛的影响:由此产生的计算框架和物理平台可以适用于各种不同的随机密集网络系统,从癌细胞群体的迁移或病毒群体的动态到免疫系统的支持和建模。所提出的细菌群集成的微型机器人在医疗保健中具有潜在的未来应用,用于诊断疾病和在人体的停滞或低速流体内的靶向药物递送或在芯片实验室微流体装置内的医疗诊断。这种保健应用可以改善我们社会的福利。为了促进下一代CPS劳动力的学习和培训,PI计划强调跨学科的方法来教授通常在不相交的轨道上提供的主题。研究员将把这项研究中的CPS研究活动整合到他们新开发的课程中,他们也将共同教授其中一门课程。作为一项国际联合教育活动,每年将在美国和欧洲轮流举办为期三天的暑期学校,讨论与我们项目有关的各种CPS主题。这将有助于建立一个强大的国际CPS社区,并在CPS主题培训美国和欧洲的学生。PI将通过公开讲座向儿童,K-12学生,K-12教师,IEEE和ACM学生成员以及美国国内外的大学生介绍该项目的研究成果。该项目和斯隆基金会将支持该项目中代表性不足和少数民族的研究生。此外,代表性不足的少数民族本科生将通过CMU ICES夏季外展计划(称为“SURE Thing”)和NSF REU计划进行培训。

项目成果

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Metin Sitti其他文献

Machine Learning-Based Shear Optimal Adhesive Microstructures with Experimental Validation.
基于机器学习的剪切最佳粘合剂微结构并进行实验验证。
  • DOI:
    10.1002/smll.202304437
  • 发表时间:
    2023
  • 期刊:
  • 影响因子:
    13.3
  • 作者:
    C. B. Dayan;Donghoon Son;Amirreza Aghakhani;Yingdan Wu;S. Demir;Metin Sitti
  • 通讯作者:
    Metin Sitti
Bioinspired and biohybrid soft robots: Principles and emerging technologies
受生物启发的和生物混合的软体机器人:原理与新兴技术
  • DOI:
    10.1016/j.matt.2025.102045
  • 发表时间:
    2025-04-02
  • 期刊:
  • 影响因子:
    17.500
  • 作者:
    Zhengkun Chen;Jiafan Chen;Sohyun Jung;Ho-Young Kim;Matteo Lo Preti;Cecilia Laschi;Ziyu Ren;Metin Sitti;Robert J. Full;Guang-Zhong Yang
  • 通讯作者:
    Guang-Zhong Yang
Synergistic integration of materials in medical microrobots for advanced imaging and actuation
用于先进成像和驱动的医疗微型机器人中材料的协同整合
  • DOI:
    10.1038/s41578-025-00811-4
  • 发表时间:
    2025-06-27
  • 期刊:
  • 影响因子:
    86.200
  • 作者:
    Paul Wrede;Eva Remlova;Yi Chen;Xosé Luís Deán-Ben;Metin Sitti;Daniel Razansky
  • 通讯作者:
    Daniel Razansky
Learning Soft Millirobot Multimodal Locomotion with Sim-to-Real Transfer.
通过模拟到真实的传输来学习软 Millirobot 多模式运动。
  • DOI:
  • 发表时间:
    2024
  • 期刊:
  • 影响因子:
    0
  • 作者:
    S. Demir;M. E. Tiryaki;A. C. Karacakol;Metin Sitti
  • 通讯作者:
    Metin Sitti
Magnetoelectric film for wireless low-frequency neuromodulationMagnetoelectric film for wireless low-frequency neuromodulation
用于无线低频神经调节的磁电薄膜
  • DOI:
    10.1016/j.brs.2024.12.210
  • 发表时间:
    2025-01-01
  • 期刊:
  • 影响因子:
    8.400
  • 作者:
    Asli Aydin;Ali Jahanshahi;Pouria Esmaeili-Dokht;Mertcan Han;Gaurav Gardi;Yasin Temel;Metin Sitti
  • 通讯作者:
    Metin Sitti

Metin Sitti的其他文献

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{{ truncateString('Metin Sitti', 18)}}的其他基金

NRI: Small: Magnetic Mobile Micro-Robotic Swarms using Smart Magnetic Composites
NRI:小型:使用智能磁性复合材料的磁性移动微型机器人群
  • 批准号:
    1317477
  • 财政年份:
    2013
  • 资助金额:
    $ 120万
  • 项目类别:
    Standard Grant
Contact Self-Cleaning Mechanics of Repeatable Fibrillar Adhesives
可重复纤维状粘合剂的接触自清洁机制
  • 批准号:
    1130520
  • 财政年份:
    2011
  • 资助金额:
    $ 120万
  • 项目类别:
    Standard Grant
Nanomechanics of Biologically Inspired Repeatable and Hierarchical Elastomer Fibrillar Adhesives
受生物启发的可重复和分层弹性体原纤维粘合剂的纳米力学
  • 批准号:
    0800408
  • 财政年份:
    2008
  • 资助金额:
    $ 120万
  • 项目类别:
    Standard Grant
RI: Bacteria Assisted Propulsion of Swimming Micro-Robots
RI:细菌辅助推进游泳微型机器人
  • 批准号:
    0713354
  • 财政年份:
    2007
  • 资助金额:
    $ 120万
  • 项目类别:
    Continuing Grant
CAREER: Nano-Robotic Manipulation Systems using Atomic Force Microscope Probes
职业:使用原子力显微镜探针的纳米机器人操纵系统
  • 批准号:
    0448042
  • 财政年份:
    2005
  • 资助金额:
    $ 120万
  • 项目类别:
    Continuing Grant
Workshop on Nanoscale Systems, Dynamics and Control; June 3, 2003; Denver, CO
纳米级系统、动力学和控制研讨会;
  • 批准号:
    0331740
  • 财政年份:
    2003
  • 资助金额:
    $ 120万
  • 项目类别:
    Standard Grant
SGER: Biomimetic Wet Attachment Mechanism for Miniature Climbing Robots in Unstructured Environments
SGER:非结构化环境中微型攀爬机器人的仿生湿式附着机构
  • 批准号:
    0328579
  • 财政年份:
    2003
  • 资助金额:
    $ 120万
  • 项目类别:
    Standard Grant

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