Collaborative Research: Magnetically-Controlled Modules with Reconfigurable Self-Assembly and Disassembly
合作研究:具有可重构自组装和拆卸功能的磁控模块
基本信息
- 批准号:2130775
- 负责人:
- 金额:$ 32.72万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Standard Grant
- 财政年份:2022
- 资助国家:美国
- 起止时间:2022-01-01 至 2024-12-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
Small scale manufacturing in real-time faces unique challenges. Components must be assembled inside or in close proximity to existing structures, such as inside the vasculature of an animal, inside a microfluidic system, or around soldered semiconductor components. This project will develop a new small-scale manufacturing method with the precision of modules, the reusability of Legos, and the self-assembly of DNA – but one that is controllable by an external magnetic field. Existing reconfigurable modular systems either use complex intelligent subunits, or are slow, usually only actuating a small number of modules at a time. There is an urgent need for robust, controllable, and efficient methods to overcome the existing issues regarding modular robotics and controllable self-reconfiguration. This award will design an innovative reconfigurable modular robotic system that uses actuatable subcomponents that can be actively assembled or disassembled on command. The modular subunits contain permanent magnets and are actuated using external magnetic fields generated by an electromagnetic system. The subunits can be moved in different motion modes that evolve dynamically as subunits assemble into complex modular structures. The issues addressed by this project are at the interface of small-scale robotics, control theory, design & manufacturing, and materials science, and hold exciting prospects for fundamental research with the potential for diverse applications. The project will provide tools and guidelines that will help advance current and future modular robotic systems. If successful, these robots can be used to perform targeted drug delivery, improve several healthcare procedures that utilize stents, and broaden microscale manufacturing prospects to produce more complex and dynamic systems. This research program integrates theoretical and experimental work with the following objectives: (1: Control) Fabricate scalable and magnetically controllable modular subunits through high resolution 3D printing techniques and embed bipolar permanent magnets to enable programmable spatial variation of magnetic properties to create heterogeneous behavior among subunits under a single global control input; design control techniques for steering components and assemblies; controllers for disassembly, (2: Applications) Manipulate modular subunits to assemble plugs, encapsulate objects, approximate shapes, and build scaffolds. (3: Multiplex) Advance algorithms for building factories that greatly speed up the assembly rate of modules into desired shapes and configurations. (4: Hardware) Fabricate an operational small-scale manipulation prototypical system that will integrate the other objectives' results and demonstrate a 3D small-scale fabrication system. This project is supported by the cross-directorate Foundational Research in Robotics program, jointly managed and funded by the Directorates for Engineering (ENG) and Computer and Information Science and Engineering (CISE).This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.
小规模实时制造面临着独特的挑战。组件必须在现有结构内部或附近组装,例如动物的脉管系统内部、微流体系统内部或焊接的半导体组件周围。该项目将开发一种新的小规模制造方法,具有模块的精度,乐高积木的可重复使用性和DNA的自组装性-但可以通过外部磁场进行控制。现有的可重构模块化系统要么使用复杂的智能子单元,要么速度很慢,通常一次只驱动少量模块。有一个迫切需要强大的,可控的,有效的方法来克服现有的问题,模块化机器人和可控的自重构。该奖项将设计一种创新的可重构模块化机器人系统,该系统使用可根据命令主动组装或拆卸的可致动子组件。模块化子单元包含永磁体,并且使用由电磁系统产生的外部磁场来致动。子单元可以以不同的运动模式移动,这些运动模式随着子单元组装成复杂的模块化结构而动态地演变。该项目所解决的问题是在小规模机器人,控制理论,设计制造和材料科学的接口,并举行了令人兴奋的基础研究与各种应用的潜力的前景。该项目将提供工具和指导方针,帮助推进当前和未来的模块化机器人系统。如果成功,这些机器人可以用于执行靶向药物输送,改善利用支架的几种医疗程序,并扩大微规模制造前景,以生产更复杂和动态的系统。 该研究计划将理论和实验工作与以下目标相结合:(1:控制)通过高分辨率3D打印技术制造可扩展和磁性可控的模块化子单元,并嵌入双极永磁体,以实现磁特性的可编程空间变化,从而在单个全局控制输入下在子单元之间创建异构行为;设计用于操纵部件和组件的控制技术;控制器拆卸,(2:应用)操纵模块化的子单元组装插头,封装对象,近似形状,并建立脚手架。(3:Multiplex)先进的工厂建造算法,大大加快了模块组装成所需形状和配置的速度。(四:硬件)制造一个可操作的小规模操纵原型系统,该系统将集成其他目标的结果并演示一个3D小规模制造系统。该项目由跨部门的机器人基础研究项目支持,该项目由工程部(ENG)和计算机与信息科学与工程部(CISE)共同管理和资助。该奖项反映了NSF的法定使命,并通过使用基金会的智力价值和更广泛的影响审查标准进行评估,被认为值得支持。
项目成果
期刊论文数量(4)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Magnetically Controlled Modular Cubes With Reconfigurable Self-Assembly and Disassembly
- DOI:10.1109/tro.2021.3114607
- 发表时间:2022-06
- 期刊:
- 影响因子:7.8
- 作者:Anuruddha Bhattacharjee;Yitong Lu;Aaron T. Becker;Min-Joo Kim
- 通讯作者:Anuruddha Bhattacharjee;Yitong Lu;Aaron T. Becker;Min-Joo Kim
Closed-Loop Control of Magnetic Modular Cubes for 2D Self-Assembly
用于二维自组装的磁性模块化立方体的闭环控制
- DOI:10.1109/lra.2023.3296008
- 发表时间:2023
- 期刊:
- 影响因子:5.2
- 作者:Lu, Yitong;Bhattacharjee, Anuruddha;Taylor, Conlan C.;Leclerc, Julien;O'Kane, Jason M.;Kim, MinJun;Becker, Aaron T.
- 通讯作者:Becker, Aaron T.
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MinJun Kim其他文献
Investigating the single-molecule interactions of heparin and FGF-1 proteins using solid-state nanopore
- DOI:
10.1016/j.bpj.2023.11.1002 - 发表时间:
2024-02-08 - 期刊:
- 影响因子:
- 作者:
Navod Thyashan;Madhav L. Ghimire;MinJun Kim - 通讯作者:
MinJun Kim
Protein Unfolding and Stability Measurement using a Solid-State Nanopore
- DOI:
10.1016/j.bpj.2011.11.2352 - 发表时间:
2012-01-31 - 期刊:
- 影响因子:
- 作者:
Kevin Freedman;Anmiv Prabhu;Per Jemth;Joshua Edel;MinJun Kim - 通讯作者:
MinJun Kim
Electrokinetic transport phenomena in solid-state nanopores: dynamics of protein and DNA translocations
- DOI:
10.1016/j.bpj.2021.11.2841 - 发表时间:
2022-02-11 - 期刊:
- 影响因子:
- 作者:
Jugal Saharia;Ahmet Ata Ersoy;Olivia Nalley;Y.M. Nuwan D.Y. Bandara;MinJun Kim - 通讯作者:
MinJun Kim
MinJun Kim的其他文献
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{{ truncateString('MinJun Kim', 18)}}的其他基金
NSF-BSF: Modeling and Control of Collective Dynamics for Externally Driven Planar Microswimmers
NSF-BSF:外部驱动平面微型游泳器集体动力学的建模和控制
- 批准号:
2123824 - 财政年份:2021
- 资助金额:
$ 32.72万 - 项目类别:
Standard Grant
Collaborative Research: Ultrasensitive Nucleic Acid Sensing Tools Based on Cas Assays and Solid-State Nanopores
合作研究:基于Cas检测和固态纳米孔的超灵敏核酸传感工具
- 批准号:
2041340 - 财政年份:2021
- 资助金额:
$ 32.72万 - 项目类别:
Standard Grant
Collaborative Research: A Stacked Plasmonic Nanopore for Tether-Free Stretching and Label-Free Sensing of hSTf Dynamics and Complex Formation at Ultra-Low Concentrations
合作研究:堆叠式等离子体纳米孔,用于超低浓度下 hSTf 动力学和复杂形成的无绳拉伸和无标记传感
- 批准号:
2022374 - 财政年份:2020
- 资助金额:
$ 32.72万 - 项目类别:
Standard Grant
Collaborative Research: Controlled Investigation of Micro- and Nanoscale Contact Interactions Between Microbes and Biomaterials Using Artificial Bacteria
合作研究:使用人造细菌对微生物与生物材料之间的微米和纳米尺度接触相互作用进行受控研究
- 批准号:
1761060 - 财政年份:2018
- 资助金额:
$ 32.72万 - 项目类别:
Standard Grant
MRI: Acquisition of an Integrated Bionanomaterials Characterization and Imaging System for Research and Education Initiatives in Bioengineering
MRI:获取集成生物纳米材料表征和成像系统,用于生物工程研究和教育计划
- 批准号:
1827831 - 财政年份:2018
- 资助金额:
$ 32.72万 - 项目类别:
Standard Grant
3D Motion and Swarm Control of Magnetically Propelled Microrobots for in vivo Particulate Drug Delivery
用于体内颗粒药物输送的磁力驱动微型机器人的 3D 运动和群体控制
- 批准号:
1634726 - 财政年份:2016
- 资助金额:
$ 32.72万 - 项目类别:
Standard Grant
Collaborative Research: Bacterial Flagellar Forests: Designing a Biomaterial for Bio-Enabled Sensing and Actuation
合作研究:细菌鞭毛森林:设计用于生物传感和驱动的生物材料
- 批准号:
1712061 - 财政年份:2016
- 资助金额:
$ 32.72万 - 项目类别:
Continuing Grant
Collaborative Research: Quantitative Analysis of Liposome Deformation at Nanoscale Using Resistive Pulse Sensing in Solid State Nanopores
合作研究:利用固态纳米孔中的电阻脉冲传感对纳米尺度脂质体变形进行定量分析
- 批准号:
1712069 - 财政年份:2016
- 资助金额:
$ 32.72万 - 项目类别:
Standard Grant
RI: Small: Collaborative Research: Micro-Assembly Exploiting SofT RObotics (MAESTRO)
RI:小型:协作研究:微装配开发软机器人 (MAESTRO)
- 批准号:
1617949 - 财政年份:2016
- 资助金额:
$ 32.72万 - 项目类别:
Continuing Grant
RI: Small: Collaborative Research: Micro-Assembly Exploiting SofT RObotics (MAESTRO)
RI:小型:协作研究:微装配开发软机器人 (MAESTRO)
- 批准号:
1712088 - 财政年份:2016
- 资助金额:
$ 32.72万 - 项目类别:
Continuing Grant
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