Dexterous Magnetic Manipulation of Non-Magnetic Objects with Stationary Electromagnetic Dipole-Field Sources
利用固定电磁偶极子场源对非磁性物体进行灵巧的磁操纵
基本信息
- 批准号:2149585
- 负责人:
- 金额:$ 55.43万
- 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:2022-05-15 至 2025-04-30
- 项目状态:未结题
- 来源:
- 关键词:
项目摘要
Methods that have been developed for non-contact magnetic manipulation of objects have typically assumed that those objects comprise a large fraction of ferromagnetic material. Many engineered devices contain no magnetic material but do contain electrically conductive material. This award will support research on dexterous six degree-of-freedom (6-DOF) manipulation of non-magnetic, but electrically conductive materials using stationary electromagnetic field sources. Preliminary results indicate that eddy current-induced forces and torques produced in the objects by the magnetic fields can be used to achieve this objective, paving way for an entirely new class of robotic manipulation opportunity. The knowledge gained in this research has the potential to contribute a solution to a major problem facing humanity: orbital space debris. Most space debris is made of aluminum: a conductive but non-magnetic material. There is a dire need for remediation strategies to remove debris already in orbit and to repair or remove human-made objects before they become new debris, to protect the fast-growing number of satellites that the world’s population has grown to rely on. This award will also support training and mentorship of graduate students, inclusion of undergraduate students in research, and outreach to K-12 students through university programs.The objective of this research is to test the conjecture that physical modeling and robot-learning techniques can be combined to improve manipulation of conductive non-magnetic objects for which a model exists, and enable manipulation of objects with no prior model, using multiple stationary electromagnetic rotating-dipole-field sources that partially surround the object. The investigation will explore the optimal manipulation of conductive objects for which a model of eddy current-induced force-torque already exists. It will also elucidate a generalized model for eddy current-induced force-torque on conductive spheres of varying size, wall thickness, and material to serve as a first-order approximation for other conductive object geometries. The scope also includes examination of cases where the system lacks a model of the target object and must acquire one online from sensor observations. Finally, experimental validation of the concepts will be performed with the development of a 6-DOF neutral-buoyancy water-based microgravity simulator.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.
已经开发的用于物体的非接触磁性操纵的方法通常假设那些物体包括大部分铁磁材料。许多工程设备不包含磁性材料,但包含导电材料。该奖项将支持使用固定电磁场源对非磁性但导电材料进行灵巧的六自由度(6-DOF)操作的研究。初步结果表明,涡流感应力和扭矩产生的磁场的对象可以用来实现这一目标,铺平了道路,一个全新的机器人操作的机会。在这项研究中获得的知识有可能有助于解决人类面临的一个主要问题:轨道空间碎片。大多数太空碎片是由铝制成的:一种导电但非磁性的材料。迫切需要补救战略,以清除已在轨道上的碎片,并在人造物体成为新的碎片之前对其进行修复或清除,以保护世界人口日益依赖的数量迅速增加的卫星。本研究的目的是测试物理建模和机器人学习技术可以结合起来,以提高对模型存在的导电非磁性物体的操纵,并使没有先验模型的物体的操纵,使用部分围绕物体的多个固定电磁旋转偶极场源。调查将探讨导电物体的涡流感应力-扭矩模型已经存在的最佳操纵。它还将阐明一个广义模型的涡流感应力扭矩导电球体的不同尺寸,壁厚和材料,作为一个一阶近似的其他导电物体的几何形状。该范围还包括检查系统缺乏目标对象的模型并且必须从传感器观察在线获取的情况。最后,将通过开发一个6自由度中性浮力水基微重力模拟器对概念进行实验验证。该项目得到了机器人跨部门基础研究计划的支持,由工程局(ENG)和计算机与信息科学与工程局(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知识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(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
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Jake Abbott其他文献
Jake Abbott的其他文献
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{{ truncateString('Jake Abbott', 18)}}的其他基金
Magnetic Cogging Parallel-elastic Actuators for Energy-efficient Robotic Legs
用于节能机器人腿的磁力齿槽平行弹性执行器
- 批准号:
2147765 - 财政年份:2023
- 资助金额:
$ 55.43万 - 项目类别:
Standard Grant
EFRI C3 SoRo: Magneto-electroactive Soft, Continuum, Compliant, Configurable (MESo-C3) Robots for Medical Applications Across Scales
EFRI C3 SoRo:磁电活性软、连续、兼容、可配置 (MESo-C3) 机器人,适用于各种规模的医疗应用
- 批准号:
1830958 - 财政年份:2018
- 资助金额:
$ 55.43万 - 项目类别:
Standard Grant
EAGER: Toward Magnetic Manipulation of Nonmagnetic Objects
EAGER:对非磁性物体进行磁操纵
- 批准号:
1841845 - 财政年份:2018
- 资助金额:
$ 55.43万 - 项目类别:
Standard Grant
CHS: Small: Toward a New Generation of Untethered Magnetic Haptic Interfaces
CHS:小型:迈向新一代无线磁性触觉界面
- 批准号:
1423273 - 财政年份:2014
- 资助金额:
$ 55.43万 - 项目类别:
Continuing Grant
Collaborative Research: Shepherding Biomedical Microswimmers Using Magnetic Fields
合作研究:利用磁场引导生物医学微型游泳者
- 批准号:
1435827 - 财政年份:2014
- 资助金额:
$ 55.43万 - 项目类别:
Standard Grant
CAREER: Nonuniform-Magnetic-Field Control of Medical Microrobots
职业:医疗微型机器人的非均匀磁场控制
- 批准号:
0952718 - 财政年份:2010
- 资助金额:
$ 55.43万 - 项目类别:
Continuing Grant
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