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2019


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Collective Formation and Cooperative Function of a Magnetic Microrobotic Swarm

Xiaoguang Dong, M. S.

IEEE, Robotics: Science and Systems, June 2019 (conference)

Abstract
Untethered magnetically actuated microrobots can access distant, enclosed and small spaces, such as inside microfluidic channels and the human body, making them appealing for minimal invasive tasks. Despite the simplicity of individual magnetic microrobots, a collective of these microrobots that can work closely and cooperatively would significantly enhance their capabilities. However, a challenge of realizing such collective magnetic microrobots is to coordinate their formations and motions with underactuated control signals. Here, we report a method that allows collective magnetic microrobots working closely and cooperatively by controlling their two-dimensional (2D) formations and collective motions in a programmable manner. The actively designed formation and intrinsic adjustable compliance within the group allow bio-inspired collective behaviors, such as navigating through cluttered environments and reconfigurable cooperative manipulation ability. These collective magnetic microrobots thus could enable potential applications in programmable self-assembly, modular robotics, swarm robotics, and biomedicine.

Collective Formation and Cooperative Function of a Magnetic Microrobotic Swarm DOI [BibTex]


A Magnetically-Actuated Untethered Jellyfish-Inspired Soft Milliswimmer
A Magnetically-Actuated Untethered Jellyfish-Inspired Soft Milliswimmer

(Best Paper Award)

Ziyu Ren, T. W., Hu, W.

RSS 2019: Robotics: Science and Systems Conference, June 2019 (conference)

[BibTex]

[BibTex]


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Elastic modulus affects adhesive strength of gecko-inspired synthetics in variable temperature and humidity

Mitchell, CT, Drotlef, D, Dayan, CB, Sitti, M, Stark, AY

In INTEGRATIVE AND COMPARATIVE BIOLOGY, pages: E372-E372, OXFORD UNIV PRESS INC JOURNALS DEPT, 2001 EVANS RD, CARY, NC 27513 USA, March 2019 (inproceedings)

[BibTex]

[BibTex]


Tailored Magnetic Springs for Shape-Memory Alloy Actuated Mechanisms in Miniature Robots
Tailored Magnetic Springs for Shape-Memory Alloy Actuated Mechanisms in Miniature Robots

Woodward, M. A., Sitti, M.

IEEE Transactions on Robotics, 35, 2019 (article)

Abstract
Animals can incorporate large numbers of actuators because of the characteristics of muscles; whereas, robots cannot, as typical motors tend to be large, heavy, and inefficient. However, shape-memory alloys (SMA), materials that contract during heating because of change in their crystal structure, provide another option. SMA, though, is unidirectional and therefore requires an additional force to reset (extend) the actuator, which is typically provided by springs or antagonistic actuation. These strategies, however, tend to limit the actuator's work output and functionality as their force-displacement relationships typically produce increasing resistive force with limited variability. In contrast, magnetic springs-composed of permanent magnets, where the interaction force between magnets mimics a spring force-have much more variable force-displacement relationships and scale well with SMA. However, as of yet, no method for designing magnetic springs for SMA-actuators has been demonstrated. Therefore, in this paper, we present a new methodology to tailor magnetic springs to the characteristics of these actuators, with experimental results both for the device and robot-integrated SMA-actuators. We found magnetic building blocks, based on sets of permanent magnets, which are well-suited to SMAs and have the potential to incorporate features such as holding force, state transitioning, friction minimization, auto-alignment, and self-mounting. We show magnetic springs that vary by more than 3 N in 750 $\mu$m and two SMA-actuated devices that allow the MultiMo-Bat to reach heights of up to 4.5 m without, and 3.6 m with, integrated gliding airfoils. Our results demonstrate the potential of this methodology to add previously impossible functionality to smart material actuators. We anticipate this methodology will inspire broader consideration of the use of magnetic springs in miniature robots and further study of the potential of tailored magnetic springs throughout mechanical systems.

DOI [BibTex]


Thrust and Hydrodynamic Efficiency of the Bundled Flagella
Thrust and Hydrodynamic Efficiency of the Bundled Flagella

Danis, U., Rasooli, R., Chen, C., Dur, O., Sitti, M., Pekkan, K.

Micromachines, 10, 2019 (article)

[BibTex]

[BibTex]


Microrobotics and Microorganisms: Biohybrid Autonomous Cellular Robots
Microrobotics and Microorganisms: Biohybrid Autonomous Cellular Robots

Alapan, Y., Yasa, O., Yigit, B., Yasa, I. C., Erkoc, P., Sitti, M.

Annual Review of Control, Robotics, and Autonomous Systems, 2019 (article)

[BibTex]

[BibTex]


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X-ray Optics Fabrication Using Unorthodox Approaches

Sanli, U., Baluktsian, M., Ceylan, H., Sitti, M., Weigand, M., Schütz, G., Keskinbora, K.

Bulletin of the American Physical Society, APS, 2019 (article)

[BibTex]

[BibTex]


Wide Range-Sensitive, Bending-Insensitive Pressure Detection and Application to Wearable Healthcare Device
Wide Range-Sensitive, Bending-Insensitive Pressure Detection and Application to Wearable Healthcare Device

Kim, S., Amjadi, M., Lee, T., Jeong, Y., Kwon, D., Kim, M. S., Kim, K., Kim, T., Oh, Y. S., Park, I.

In 2019 20th International Conference on Solid-State Sensors, Actuators and Microsystems & Eurosensors XXXIII (TRANSDUCERS & EUROSENSORS XXXIII), 2019 (inproceedings)

[BibTex]

[BibTex]


Nitrogen doped carbon quantum dots demonstrate no toxicity under in vitro conditions in a cervical cell line and in vivo in Swiss albino mice
Nitrogen doped carbon quantum dots demonstrate no toxicity under in vitro conditions in a cervical cell line and in vivo in Swiss albino mice

Singh, V., Kashyap, S., Yadav, U., Srivastava, A., Singh, A. V., Singh, R. K., Singh, S. K., Saxena, P. S.

Toxicology research, 8, Oxford University Press, 2019 (article)

DOI [BibTex]

DOI [BibTex]


Multifarious Transit Gates for Programmable Delivery of Bio‐functionalized Matters
Multifarious Transit Gates for Programmable Delivery of Bio‐functionalized Matters

Hu, X., Torati, S. R., Kim, H., Yoon, J., Lim, B., Kim, K., Sitti, M., Kim, C.

Small, Wiley Online Library, 2019 (article)

[BibTex]

[BibTex]


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Welcome to Progress in Biomedical Engineering

Sitti, M.

Progress in Biomedical Engineering, 1, IOP Publishing, 2019 (article)

[BibTex]

[BibTex]


The near and far of a pair of magnetic capillary disks
The near and far of a pair of magnetic capillary disks

Koens, L., Wang, W., Sitti, M., Lauga, E.

Soft Matter, 2019 (article)

DOI [BibTex]

DOI [BibTex]


Aerial robot control in close proximity to ceiling: A force estimation-based nonlinear mpc
Aerial robot control in close proximity to ceiling: A force estimation-based nonlinear mpc

Kocer, B. B., Tiryaki, M. E., Pratama, M., Tjahjowidodo, T., Seet, G. G. L.

arXiv preprint arXiv:1907.13594, 2019 (article)

[BibTex]

[BibTex]


Multifunctional and biodegradable self-propelled protein motors
Multifunctional and biodegradable self-propelled protein motors

Pena-Francesch, A., Giltinan, J., Sitti, M.

Nature communications, 10, Nature Publishing Group, 2019 (article)

[BibTex]

[BibTex]


Review of emerging concepts in nanotoxicology: opportunities and challenges for safer nanomaterial design
Review of emerging concepts in nanotoxicology: opportunities and challenges for safer nanomaterial design

Singh, A. V., Laux, P., Luch, A., Sudrik, C., Wiehr, S., Wild, A., Santamauro, G., Bill, J., Sitti, M.

Toxicology Mechanisms and Methods, 2019 (article)

[BibTex]

[BibTex]


Graphene oxide synergistically enhances antibiotic efficacy in Vancomycin resistance Staphylococcus aureus
Graphene oxide synergistically enhances antibiotic efficacy in Vancomycin resistance Staphylococcus aureus

Singh, V., Kumar, V., Kashyap, S., Singh, A. V., Kishore, V., Sitti, M., Saxena, P. S., Srivastava, A.

ACS Applied Bio Materials, ACS Publications, 2019 (article)

[BibTex]

[BibTex]


In Vivo Biocompatibility of Electrospun Biodegradable Dual Carrier (Antibiotic + Growth Factor) in a Mouse Model-Implications for Rapid Wound Healing
In Vivo Biocompatibility of Electrospun Biodegradable Dual Carrier (Antibiotic + Growth Factor) in a Mouse Model-Implications for Rapid Wound Healing

Dwivedi, C., Pandey, H., Pandey, A. C., Patil, S., Ramteke, P. W., Laux, P., Luch, A., Singh, A. V.

Pharmaceutics, Multidisciplinary Digital Publishing Institute, 2019 (article)

[BibTex]

[BibTex]


Cancer-selective nanoparticles for combinatorial siRNA delivery to primary human GBM in vitro and in vivo
Cancer-selective nanoparticles for combinatorial siRNA delivery to primary human GBM in vitro and in vivo

Kozielski, K. L., Ruiz-Valls, A., Tzeng, S. Y., Guerrero-Cázares, H., Rui, Y., Li, Y., Vaughan, H. J., Gionet-Gonzales, M., Vantucci, C., Kim, J., others,

Biomaterials, 209, Elsevier, 2019 (article)

DOI [BibTex]

DOI [BibTex]


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Gecko-inspired composite microfibers for reversible adhesion on smooth and rough surfaces

Drotlef, D., Dayan, C., Sitti, M.

In INTEGRATIVE AND COMPARATIVE BIOLOGY, pages: E58-E58, OXFORD UNIV PRESS INC JOURNALS DEPT, 2001 EVANS RD, CARY, NC 27513 USA, 2019 (inproceedings)

[BibTex]

[BibTex]


ENGINEERING Bio-inspired robotic collectives
ENGINEERING Bio-inspired robotic collectives

Sitti, M.

Nature, 567, pages: 314-315, Macmillan Publishers Ltd., London, England, 2019 (article)

[BibTex]

[BibTex]


Shape-encoded dynamic assembly of mobile micromachines
Shape-encoded dynamic assembly of mobile micromachines

Alapan, Y., Yigit, B., Beker, O., Demirörs, A. F., Sitti, M.

Nature, 18, 2019 (article)

[BibTex]

[BibTex]


Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications
Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications

Singh, A. V., Jahnke, T., Xiao, Y., Wang, S., Yu, Y., David, H., Richter, G., Laux, P., Luch, A., Srivastava, A., Saxena, P. S., Bill, J., Sitti, M.

Journal of nanoscience and nanotechnology, 19, American Scientific Publishers, 2019 (article)

[BibTex]

[BibTex]


Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules
Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules

Sreekanth, K. V., Sreejith, S., Alapan, Y., Sitti, M., Lim, C. T., Singh, R.

Advanced Optical Materials, 2019 (article)

[BibTex]

[BibTex]


Mobile microrobots for active therapeutic delivery
Mobile microrobots for active therapeutic delivery

Erkoc, P., Yasa, I. C., Ceylan, H., Yasa, O., Alapan, Y., Sitti, M.

Advanced Therapeutics, Wiley Online Library, 2019 (article)

DOI [BibTex]


Cutting the Cord: Progress in Untethered Soft Robotics and Actuators
Cutting the Cord: Progress in Untethered Soft Robotics and Actuators

Li, M., Ostrovsky-Snider, N. A., Sitti, M., Omenetto, F. G.

MRS Advances, 4, 2019 (article)

DOI [BibTex]

DOI [BibTex]


Micro-nanorobots: Important considerations when developing novel drug delivery platforms
Micro-nanorobots: Important considerations when developing novel drug delivery platforms

Singh, A. V., Ansari, M. H. D., Laux, P., Luch, A.

Expert Opinion on Drug Delivery, 16, Taylor & Francis, 2019 (article)

DOI [BibTex]

DOI [BibTex]


Strain-Visualization with Ultrasensitive Nanoscale Crack-Based Sensor Assembled with Hierarchical Thermochromic Membrane
Strain-Visualization with Ultrasensitive Nanoscale Crack-Based Sensor Assembled with Hierarchical Thermochromic Membrane

Park, B., Kim, J. U., Kim, J., Tahk, D., Jeong, C., Ok, J., Shin, J. H., Kang, D., Kim, T.

Advanced Functional Materials, 29, Wiley Online Library, 2019 (article)

DOI [BibTex]

DOI [BibTex]


A force-measuring and behaviour-recording system consisting of 24 individual 3D force plates for the study of single limb forces in climbing animals on a quasi-cylindrical tower
A force-measuring and behaviour-recording system consisting of 24 individual 3D force plates for the study of single limb forces in climbing animals on a quasi-cylindrical tower

Ji, A., Yuan, S., Endlein, T., Hill, I. D., Wang, W., Wang, H., Jiang, N., Zhao, Z., Barnes, W. J. P., Dai, Z.

Bioinspiration \& biomimetics, IOP Publishing, 2019 (article)

[BibTex]

[BibTex]


Learning to Navigate Endoscopic Capsule Robots
Learning to Navigate Endoscopic Capsule Robots

Turan, M., Almalioglu, Y., Gilbert, H. B., Mahmood, F., Durr, N. J., Araujo, H., Sarı, A. E., Ajay, A., Sitti, M.

IEEE Robotics and Automation Letters, 4, 2019 (article)

[BibTex]

[BibTex]


Order and Information in the Phases of a Torque-driven Artificial Collective System
Order and Information in the Phases of a Torque-driven Artificial Collective System

Wang, W., Gardi, G., Kishore, V., Koens, L., Son, D., Gilbert, H., Harwani, P., Lauga, E., Sitti, M.

arXiv preprint arXiv:1910.11226, 2019 (article)

[BibTex]


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Electromechanical actuation of dielectric liquid crystal elastomers for soft robotics

Davidson, Z., Shahsavan, H., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M.

Bulletin of the American Physical Society, APS, 2019 (article)

[BibTex]

[BibTex]


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A general electromechanical model for plates with integrated piezo-patches using spectral-Tchebychev method

Aghakhani, A., Motlagh, P. L., Bediz, B., Basdogan, I.

Journal of Sound and Vibration, 458, Elsevier, 2019 (article)

[BibTex]

[BibTex]


The adoption of three-dimensional additive manufacturing from biomedical material design to 3d organ printing
The adoption of three-dimensional additive manufacturing from biomedical material design to 3d organ printing

Vikram Singh, A., Hasan Dad Ansari, M., Wang, S., Laux, P., Luch, A., Kumar, A., Patil, R., Nussberger, S.

Applied Sciences, 9, Multidisciplinary Digital Publishing Institute, 2019 (article)

DOI [BibTex]

DOI [BibTex]


Wearable, ultrawide-range, and bending-insensitive pressure sensor based on carbon nanotube network-coated porous elastomer sponges for human interface and healthcare devices
Wearable, ultrawide-range, and bending-insensitive pressure sensor based on carbon nanotube network-coated porous elastomer sponges for human interface and healthcare devices

Kim, S., Amjadi, M., Lee, T., Jeong, Y., Kwon, D., Kim, M. S., Kim, K., Kim, T., Oh, Y. S., Park, I.

ACS applied materials \& interfaces, ACS Publications, 2019 (article)

[BibTex]

[BibTex]


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Helminthicidal and Larvicidal Potentials of Biogenic Silver Nanoparticles Synthesized from Medicinal Plant Momordica charantia

Shelar, A., Sangshetti, J., Chakraborti, S., Singh, A. V., Patil, R., Gosavi, S.

Medicinal Chemistry, 25, Bentham Science Publishers, 2019 (article)

DOI [BibTex]

DOI [BibTex]

2014


Series of Multilinked Caterpillar Track-type Climbing Robots
Series of Multilinked Caterpillar Track-type Climbing Robots

Lee, G., Kim, H., Seo, K., Kim, J., Sitti, M., Seo, T.

Journal of Field Robotics, November 2014 (article)

Abstract
Climbing robots have been widely applied in many industries involving hard to access, dangerous, or hazardous environments to replace human workers. Climbing speed, payload capacity, the ability to overcome obstacles, and wall-to-wall transitioning are significant characteristics of climbing robots. Here, multilinked track wheel-type climbing robots are proposed to enhance these characteristics. The robots have been developed for five years in collaboration with three universities: Seoul National University, Carnegie Mellon University, and Yeungnam University. Four types of robots are presented for different applications with different surface attachment methods and mechanisms: MultiTank for indoor sites, Flexible caterpillar robot (FCR) and Combot for heavy industrial sites, and MultiTrack for high-rise buildings. The method of surface attachment is different for each robot and application, and the characteristics of the joints between links are designed as active or passive according to the requirement of a given robot. Conceptual design, practical design, and control issues of such climbing robot types are reported, and a proper choice of the attachment methods and joint type is essential for the successful multilink track wheel-type climbing robot for different surface materials, robot size, and computational costs.

DOI [BibTex]

2014

DOI [BibTex]