CPS: Small: Geometric Self-Propelled Articulated Micro-Scale Devices

CPS：小型：几何自走式铰接微型装置

• 批准号: 1739308
• 负责人: Matthew Travers
• 金额: $ 44.95万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-09-01 至 2021-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1739308&HistoricalAwards=false
• 关键词: CPS; Small; Geometric; Self; Propelled

Sub-millimeter scale cyber-physical systems will have a major impact on future applications.  For example, targeted drug delivery or materials conveyance for micro-scale construction are two important application areas on which small-scale systems will advance the current state of the art.  However, conventional actuator, sensor, and computational units are generally not available at extremely small scales.  This project thus explores the relationships between novel microfabrication, system design for articulated locomotion, and active control of micro, cyber-physical systems.  More specifically, this project develops a common analytical framework to understand, express, and reason about the connections, as well as demonstrate on a novel problem, the benefits of self-propelled articulated micro-scale devices.The project is developing elasto-magnetic filaments formed by linked ferromagnetic beads.  These filaments can serve as the basis for functionalized structures, employing protein-coatings, that are flexible and controllable through actively manipulated distributions of magnetic dipole moments.  This approach uses dual laser polymerization to construct templates that enable the magnetization profile of chains composed by single micron diameter ferromagnetic spheres, bonded by DNA origami strands, to be actively programmed.  These elasto-magnetic bodies are then articulated by changes in an externally applied magnetic field, i.e., when subjected to a constant but oscillating weak magnetic field, the local alignment of dipole moments to the field will actively "actuate" the systems.  The analysis, based on a geometric framework, will determine the optimal distribution of magnetization profiles across the filaments; thereby linking fabrication to analysis and the geometry underlying locomotion in dissipative fluids to novel maneuvering capabilities.  Guided by this framework, as a demonstration, microrobots with these magnetized bodies will be designed to achieve specific locomotion objectives in sufficient numbers to be made to move purposefully in uncertain environments.

亚毫米级网络物理系统将对未来的应用产生重大影响。  例如，用于微型建筑的靶向药物输送或材料输送是小型系统将推进当前技术水平的两个重要应用领域。  然而，传统的执行器、传感器和计算单元通常无法在极小的尺度上使用。  因此，该项目探讨了新颖的微加工、铰接式运动的系统设计以及微网络物理系统的主动控制之间的关系。  更具体地说，该项目开发了一个通用的分析框架来理解、表达和推理连接，并演示一个新问题，即自驱动铰接微型装置的好处。该项目正在开发由连接的铁磁珠形成的弹磁丝。  这些细丝可以作为功能化结构的基础，采用蛋白质涂层，通过主动控制磁偶极矩的分布，这些结构是灵活且可控的。  这种方法使用双激光聚合来构建模板，使由单微米直径铁磁球组成的链的磁化曲线能够被主动编程，这些铁磁球通过 DNA 折纸链结合。  然后，这些弹磁体通过外部施加的磁场的变化进行铰接，即，当受到恒定但振荡的弱磁场时，偶极矩与场的局部对准将主动“驱动”系统。  基于几何框架的分析将确定细丝上磁化分布的最佳分布；从而将制造与分析联系起来，将耗散流体中运动的几何结构与新颖的机动能力联系起来。  作为演示，在该框架的指导下，具有这些磁体的微型机器人将被设计为实现足够数量的特定运动目标，以便在不确定的环境中有目的地移动。

项目成果

Modular self-assembly of gamma-modified peptide nucleic acids in organic solvent mixtures

有机溶剂混合物中伽马修饰肽核酸的模块化自组装

• DOI: 10.1038/s41467-020-16759-8
• 发表时间: 2020
• 期刊: Nature Communications
• 影响因子: 16.6
• 作者: Kumar, Sriram;Pearse, Alexander;Liu, Ying;Taylor, Rebecca E.
• 通讯作者: Taylor, Rebecca E.

Steering Magnetic Robots in Two Axes with One Pair of Maxwell Coils

使用一对麦克斯韦线圈控制两轴磁性机器人

• 发表时间: 2020
• 期刊: IROS
• 作者: Emma Benjaminson1, Matthew Travers2

Self-Assembly of Gamma-Modified Peptide Nucleic Acids into Complex Nanostructures in Organic Solvent Mixtures

γ-修饰肽核酸在有机溶剂混合物中自组装成复杂纳米结构

• DOI: 10.3791/61351
• 发表时间: 2020
• 期刊: Journal of Visualized Experiments
• 作者: Kumar, Sriram;Liu, Ying;Taylor, Rebecca E.
• 通讯作者: Taylor, Rebecca E.

Modular, Articulated Models of DNA and Peptide Nucleic Acids for Nanotechnology Education

用于纳米技术教育的 DNA 和肽核酸的模块化、铰接模型

• DOI: 10.35459/tbp.2022.000225
• 发表时间: 2023
• 期刊: The Biophysicist
• 作者: Goodwin-Schoen, Caleigh M.;Taylor, Rebecca E.
• 通讯作者: Taylor, Rebecca E.

Rapid self‐assembly of γPNA nanofibers at constant temperature

γPNA 纳米纤维在恒温下快速自组装

• DOI: 10.1002/bip.23463
• 发表时间: 2021
• 期刊: Biopolymers
• 影响因子: 2.9
• 作者: Kumar, Sriram;Dhami, Isha;Thadke, Shivaji A.;Ly, Danith H.;Taylor, Rebecca E.
• 通讯作者: Taylor, Rebecca E.