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Feedback Control of an Achiral Robotic Microswimmer

Journal of Bionic Engineering 2017年第2期14卷 245-259页

作者： U Kei Cheang hoyeon kim Dejan Milutinovic Jongeun Choi Min Jun kim Department of Mechanical Engineering and Mechanics Drexel University Philadelphia PA 19104 USA Department of Mechanical Engineering Southern Methodist University Dallas TX75275 USA Department of Computer Engineering University of California Santa Cruz Santa Cruz California 95064 USA School of Mechanical Engineering Yonsei University Seoul South Korea

Magnetic microswimmers are useful for navigating and performing tasks at small scales. To demonstrate effective control over such microswimmers, we implemented feedback control of the three-bead achiral microswimmers in both simulation and experiment. The achiral microswimmers with the ability to swim in bulk fluid are controlled wirelessly using magnetic fields generated from electromagnetic coils. The achirality of the microswimmers introduces unknown handedness resulting in uncertainty in swimming direction. We use a combination of rotating and static magnetic fields generated from an approximate Helmholtz coil system to overcome such uncertainty. There are also movement uncertainties due to environmental factors such as unsteady flow conditions. A kinematic model based feedback controller was created based on data fitting of experimental data. However, the controller was unable to yield satisfactory performance due to uncertainties from environmental factors; i.e., the time to reach target pose under adverse flow condition is too long. Following the implementation of an integral controller to control the microswimmers＇ swimming velocity, the mieroswimmers were able to reach the target in roughly half the time. Through simulation and experiments, we show that the feedback control law can move an achiral microswimmer from any initial conditions to a target pose.

关键词： microrobotics magnetic control low Reynold number chirality feedback control

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Micro Manipulation Using Magnetic Microrobots

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Journal of Bionic Engineering 2016年第4期13卷 515-524页

作者： hoyeon kim Jamel Ali U Kei Cheang Jinwoo Jeong din Seok kim Min dun kim Department of Mechanical Engineering Southern Methodist University Dallas TX75272 USA Department of MechanicaI Engineering and Mechanics Drexel University Philadelphia PA 19104 USA Center for Bionics Korea Institute of Science and Technology 5 Hwarang-ro 14-gil Seongbuk-gu Seou102792 Republic of Korea

When developing microscale robotic systems it is desired that they are capable of performing microscale tasks such as small scale manipulation and transport. In this paper, we demonstrate the transport of microscale objects using single or multiple microrobots in low Reynolds number fluidic environment. The microrobot is composed of a ‘U＇ shaped SU-8 body, coated on one side with nickel. Once the nickel coating is magnetized, the motion of the microrobots can be driven by external magnetic fields. To invoke different responses from two microrobots under a global magnetic field, two batches of microrobots were fabricated with different thicknesses of nickel coating as a way to promote heterogeneity within the microrobot population. The heterogeneity in magnetic content induces different spatial and temporal responses under the same control input, resulting in differences in movement speed. The nickel coated microstructure is manually controlled through a user interface developed using C＋＋. This paper presents a control strategy to navigate the microrobots by controlling the direction and strength of ex- ternally applied magnetic field, as well as orientation of the microrobots based on their polarity. In addition, multiple micro- robots are used to perform transport tasks.

关键词： microrobot magnetic control microtransport magnetic polarity micromanipulation

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Performance comparison of leg detection methods using laser range finder

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Journal of Measurement Science and Instrumentation 2012年第3期3卷 278-280页

作者： Yoonchang Sung hoyeon kim Yoonkyu Yoo Jooyoung Park Woojin Chung School of Mechanical Engineering Korea University

Human interaction becomes an important issue in the field of mobile robotics. To achieve humanfriendly naviga tion, the robot needs to recognize human on cluttered backgrounds, and this can be fulfilled by the detection of human legs. The detection of human legs is advantageous because it enables detecting environmental obstacles at such heights. In this pa per, we compared the performance of an algorithm using a single laser range finder（LRF） proposed in Ref. L 1 ] with that of wellknown feature extraction approaches bounding box and circle fitting proposed in Ref. [ 2 ] by using the same laser scanned image.

关键词： human-robot interaction leg detection feature extraction

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Gait Optimization of a Quadruped Robot Using Evolutionary Computation

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Journal of Bionic Engineering 2021年第2期18卷 306-318页

作者： Jihoon kim Dang Xuan Ba hoyeon Yeom Joonbum Bae Mechanical Engineering Ulsan National Institute of Science and Technology(UNIST)Ulsan 44919South Korea Automatic Control HoChiMinh City University of Technology and Education(HCMUTE)HoChiMinh City 71307Vietnam

Evolutionary Computation(EC)has strengths in terms of computation for gait ***,conventional evolutionary algorithms use typical gait parameters such as step length and swing height,which limit the trajectory deformation for optimization of the foot ***,the quantitative index of fitness convergence is *** this paper,we perform gait optimization of a quadruped robot using foot placement perturbation based on *** proposed algorithm has an atypical solution search range,which is generated by independent manipulation of each placement that forms the foot trajectory.A convergence index is also introduced to prevent premature cessation of *** conventional algorithm and the proposed algorithm are applied to a quadruped robot;walking performances are then compared by gait *** the two algorithms exhibit similar computation rates,the proposed algorithm shows better fitness and a wider search *** evolutionary tendency of the walking trajectory is analyzed using the optimized results,and the findings provide insight into reliable leg trajectory design.

关键词： bionic robot evolutionary computation genetic algorithm gait optimization parameter perturbation convergence index

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