ABSTRACT
In this study, we present a method to construct meter-scale deformable structures for underwater robotic applications by discretely assembling mechanical metamaterials. We address the challenge of scaling up nature-like deformable structures while remaining structurally efficient by combining rigid and compliant facets to form custom unit cells that assemble into lattices. The unit cells generate controlled local anisotropies that architect the global deformation of the robotic structure. The resulting flexibility allows better unsteady flow control that enables highly efficient propulsion and optimized force profile manipulations. We demonstrate the utility of this approach in two models. The first is a morphing beam snake-like robot that can generate thrust at specific anguilliform swimming parameters. The second is a morphing surface hydrofoil that, when compared with a rigid wing at the same angles of attack (AoAs), can increase the lift coefficient up to 0.6. In addition, in lower AoAs, the L∕D ratio improves by 5 times, whereas in higher angles it improves by 1.25 times. The resulting hydrodynamic performance demonstrates the potential to achieve accessible, scalable, and simple to design and assemble morphing structures for more efficient and effective future ocean exploration and exploitation.
ABSTRACT
In this paper, we present a novel approach to noncontact micromanipulation by controlled dielectrophoresis (DEP). To steer micro-objects in the desired way, the solutions reported in the literature use either DEP cages or amplitude modulation of the voltages applied to the electrodes. In contrast, we modulate the phases, that is, we control the phase shifts of the voltages applied to the electrodes, which simplifies the hardware implementation and extends the set of feasible forces. Furthermore, we introduce an innovative micro-electrode array layout, composed of four sectors with parallel (colinear) electrodes, which is capable of inducing an arbitrary movement in the manipulation area and is easy to fabricate using just an affordable one-layer technology. We then propose a closed-loop cascade control strategy based on real-time numerical optimization and deploy it to our experimental set-up. Numerical simulations and laboratory experiments demonstrate the manipulation capabilities such as positioning and steering of one or several microscopic objects (microspheres with a diameter of 50 µm) and even bringing two objects together and then separating them again. The results from simulations and experiments are compared and the positioning accuracy is evaluated in the whole manipulation area. The error in position is 8 µm in the worst case, which corresponds to 16% of the microsphere size or 0.7% of the manipulation range.
ABSTRACT
Mathematical models of dielectrophoresis play an important role in the design of experiments, analysis of results, and even operation of some devices. In this paper, we test the accuracy of existing models in both simulations and laboratory experiments. We test the accuracy of the most common model that involves a point-dipole approximation of the induced field, when the small-particle assumption is broken. In simulations, comparisons against a model based on the Maxwell stress tensor show that even the point-dipole approximation provides good results for a large particle close to the electrodes. In addition, we study a refinement of the model offered by multipole approximations (quadrupole, and octupole). We also show that the voltages on the electrodes influence the error of the model because they affect the positions of the field nulls and the nulls of the higher-order derivatives. Experiments with a parallel electrode array and a polystyrene microbead reveal that the models predict the force with an error that cannot be eliminated even with the most accurate model. Nonetheless, it is acceptable for some purposes such as a model-based control system design.
Subject(s)
Computer Simulation , Electrophoresis/methods , Models, Theoretical , Algorithms , Electrodes , Microspheres , Particle Size , Polystyrenes/chemistry , Surface PropertiesABSTRACT
The paper describes a novel control strategy for simultaneous manipulation of several microscale particles over a planar microelectrode array using dielectrophoresis. The approach is based on a combination of numerical nonlinear optimization, which gives a systematic computational procedure for finding the voltages applied to the individual electrodes, and exploitation of the intrinsic noise, which compensates for the loss of controllability when two identical particles are exposed to identical forces. Although interesting on its own, the proposed functionality can also be seen as a preliminary achievement in a quest for a technique for separation of two particles. The approach is tested experimentally with polystyrene beads (50 microns in diameter) immersed in deionized water on a flat microelectrode array with parallel electrodes. A digital camera and computer vision algorithm are used to measure the positions. Two distinguishing features of the proposed control strategy are that the range of motion is not limited to interelectrode gaps and that independent manipulation of several particles simultaneously is feasible even on a simple microelectrode array.
