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

• 批准号: 2130793
• 负责人: Aaron Becker
• 金额: $ 30万
• 依托单位: University of Houston
• 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: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2130793&HistoricalAwards=false
• 关键词: Collaborative; Research; Magnetically; Controlled; Modules

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。组件必须组装在现有结构内部或接近现有结构，例如在动物的血管系统内、微流体系统内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、乐高的可重用性和DNA的自组装-但可以通过外部磁场控制。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，通常一次只能启动少量模块。迫切需要健壮、可控和高效的方法来克服模块化机器人和可控自重构方面存在的问题。该奖项将设计一种创新的可重新配置的模块化机器人系统，该系统使用可执行的子组件，可以根据命令主动组装或拆卸。模块化的子单元包含永磁体，并使用由电磁系统产生的外部磁场来驱动。子单元可以以不同的运动模式移动，随着子单元组装成复杂的模块化结构，这些运动模式会动态演变。该项目涉及的问题涉及小规模机器人学、控制理论、设计与制造以及材料科学，在基础研究方面具有令人兴奋的前景，具有广泛应用的潜力。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，改进几种利用支架的医疗保健程序，并拓宽微型制造前景，以生产更复杂和动态的系统。这项研究计划整合了理论和实验工作，目标如下：(1：控制)通过高分辨率3D打印技术制造可伸缩和磁控的模块化亚单元，并嵌入双极永磁体，以实现可编程的空间变化，从而在单一全局控制输入下子单元之间创造不同的行为；设计转向部件和组件的控制技术；(2：拆卸控制器；(2：应用)操纵模块化亚单元以组装插头、封装物体、近似形状和构建脚手架。(3：多路)用于建造工厂的高级算法，可极大地加快将模块组装成所需形状和配置的速度。(4：硬件)制造一个可操作的小规模操纵原型系统，该系统将整合其他目标的结果，并演示一个3D小规模制造系统。该项目由跨部门机器人基础研究计划支持，该计划由工程学指导委员会(ENG)和计算机与信息科学与工程指导委员会(CEISE)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优势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

Threat-Aware Selection for Target Engagement

目标交战的威胁感知选择

• DOI: 10.1109/case49997.2022.9926456
• 发表时间: 2022
• 期刊: CASE
• 作者: Biediger, Daniel;Becker, Aaron T.
• 通讯作者: Becker, Aaron T.

Insertion, Retrieval and Performance Study of Miniature Magnetic Rotating Swimmers for the Treatment of Thrombi

微型磁力旋转游泳器治疗血栓的插入、回收和性能研究

• DOI: 10.1109/iros55552.2023.10342355
• 发表时间: 2023
• 期刊: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Lu, Yitong;Ramos, Jocelyn;Ghosn, Mohamad G.;Shah, Dipan J.;Becker, Aaron T.;Leclerc, Julien
• 通讯作者: Leclerc, Julien

Connected Reconfiguration of Polyominoes Amid Obstacles using RRT

• DOI: 10.1109/iros47612.2022.9981184
• 发表时间: 2022-07
• 期刊: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• 作者: Javier Garcia;Michael Yannuzzi;Peter Kramer;Christian Rieck;Aaron T. Becker

Magnetically Controlled Modular Cubes With Reconfigurable Self-Assembly and Disassembly

• DOI: 10.1109/tro.2021.3114607
• 发表时间: 2022-06
• 期刊: IEEE Transactions on Robotics
• 影响因子: 7.8
• 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: IEEE Robotics and Automation Letters
• 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.