课程详述

COURSE SPECIFICATION

以下课程信息可能根据实际授课需要或在课程检讨之后产生变动。如对课程有任何疑问，请联

系授课教师。

The course information as follows may be subject to change, either during the session because of unforeseen

circumstances, or following review of the course at the end of the session. Queries about the course should be

directed to the course instructor.

课程名称 Course Title

专题：微型游水机器人的设计原理

Special Topics: Design Principles of Microscale Swimming Robots

授课院系

Originating Department

机械与能源工程系

Department of Mechanical and Energy Engineering

课程编号

Course Code

ME300-1

课程学分 Credit Value

课程类别

Course Type

专业选修课

Major Elective Course

授课学期

Semester

春季学期

Spring

授课语言

Teaching Language

英文 English

授课教师、所属学系、联系方

式（如属团队授课，请列明其

他授课教师）

Instructor(s), Affiliation&

Contact

（For team teaching, please list

all instructors）

郑裕基

机械与能源工程系

zhengyj@sustc.edu.cn

U Kei Cheang

Department of Mechanical and Energy Engineering

实验员/助教、所属学系、联系

方式

Tutor/TA(s), Contact

待公布 To be announced

10.

选课人数限额(可不填)

Maximum Enrolment

（Optional）

授课方式

Delivery Method

讲授

Lectures

习题/辅导/讨论

Tutorials

实验/实习

Lab/Practical

其它(请具体注明)

Other（Please specify）

总学时

Total

11.

学时数

Credit Hours

12.

先修课程、其它学习要求

Pre-requisites or Other

Academic Requirements

Basic knowledge of MATLAB and LabVIEW is strongly encouraged, but not

required.

13.

后续课程、其它学习规划

Courses for which this course

is a pre-requisite

无

14.

其它要求修读本课程的学系

Cross-listing Dept.

无

教学大纲及教学日历 SYLLABUS

15.

教学目标 Course Objectives

Acquire knowledge on the current progress in micro/nanorobots;

Understand theories relevant theories in areas such as scaling laws, low Reynolds number, and magnetism;

Study relevant techniques in micro/nanofabrication, fluid dynamics, imaging, tracking, control, etc.;

Investigate design criteria for micro/nanorobots.

16.

预达学习成果 Learning Outcomes

ABET Criteria 3 Outcomes

0 = No content, 1 = Some content, 2 = Significant content

Outcomes a -k

Conten

Explanation

Evidence

a. An ability to apply knowledge of

mathematics, science and engineering

This course will require the students to

develop a general understanding of

technologies involved in microrobotics.

The student will learn how to apply

their knowledge in micro- and

nanofabrication, fluids, controls, as well

as other relevant disciplines.

Lecture Notes,

Homework,

Design Project

b. An ability to design and conduct

experiments as well as to analyze and

interpret data

Assignments and course project will

require students to design systems and

analyze and interpret data.

Homework,

Design Project

c. An ability to design a system,

component, or process to meet desired

needs within realistic constraints such

as economic, environmental, social,

political, ethical, health and safety,

manufacturability, and sustainability

Assignments will require considerations

for societal or industrial needs.

Homework,

Design Project

d. An ability to function on

multidisciplinary teams

The course project will require students

to work together on a multidisciplinary

topic.

Design Project

e. An ability to identify, formulate and

solve engineering problems

The homework and project will require

students to identify, formulate and solve

engineering problems.

Homework,

Design project

f. An understanding of professional and

ethical responsibility

This will be emphasized as part of the

engineer’s overall responsibility.

Classroom

discussion

g. An ability to communicate effectively

Written report and presentation for the

project demonstrate students’ ability to

communicate effectively.

Final report for

design project

h. The broad education necessary to

understand the impact of engineering

solutions in a global, economic,

The impact of micro- and nanorobotics

on a global, economic, environmental,

and societal context will be covered.

Classroom

discussion,

Design project

environmental, and societal context

i. A recognition of the need for and an

ability to engage in lifelong learning

The emerging field of science and

engineering will be engaged in lifelong

learning.

Classroom

discussion

j. A knowledge of contemporary issues

The difficulties in developing

fabrication techniques at the micro and

nanoscale will be discussed.

Classroom

discussion,

Lecture Notes

k. An ability to use the techniques,

skills and modern engineering tools

necessary for engineering practice

Lectures and assignments will cover

theoretical use of advanced techniques

in micro- and nanotechnology.

Lecture Notes,

Homework,

Design project

17.

课程内容及教学日历（如授课语言以英文为主，则课程内容介绍可以用英文；如团队教学或模块教学，教学日历须注明

主讲人）

Course Contents (in Parts/Chapters/Sections/Weeks. Please notify name of instructor for course section(s), if

this is a team teaching or module course.)

Secti

Description

Introduction - History, motivation and goal, and literature review of micro/nanorobotics:

Lectures will include an introduction of the history of this new field of research. The lecture

will introduce the motivation of using microrobotics for various in vitro and in vivo

applications, and the ongoing developments in this field.

Technological limitations and future applications:

Lectures will introduce an overview of the essential technologies used in this field, such as

microfabrication techniques, control systems, and imaging capability, and their limitations.

Lecture will also include the future perspective of microrobotics.

Scaling Laws from macro to micro/nano:

Lectures will include the physics behind scaling mobile robots from macroscale to

micro/nanoscale.

Low Reynolds number Hydrodynamics:

This topic will be closely connected to the previous topic, but with more specificity towards the

principle of low Reynolds number.

Diffusivity:

Lectures will introduce the concept of diffusivity which is a very important phenomenon to

micro/nanoscale robots. Diffusion is a source of environmental disturbance that can

significantly influence the swimming motion and trajectories of micro/nanorobots. Lessons will

cover theoretical calculation of diffusion related parameters as well as experimental techniques

to measure diffusion.

Engineering design of swimming mechanism:

Lectures will discuss the use of engineered nonreciprocal swimming mechanisms that are

effective at low Reynolds number. Lectures will introduce theoretical swimming mechanisms

such as the “Taylor sheet” and “Pushmepullyou” swimmers.

Introduction to existing micro/nanorobots:

After gaining a foundation into the fundamental knowledge in microrobotics from the previous

weeks, this week’s lectures will dive deeper into the design, fabrication, control, applications

aspects of micro/nanorobots currently in development.

Bio-inspired and inorganic micro/nanorobots case studies:

Lectures will discuss the use of bio-inspired engineering based on the swimming mechanisms

of microorganisms. Lectures will also explore the fabrication and actuation techniques of

microrobots aimed towards biomimicry. The focus will be on rotating swimmers, helical chiral

swimmers, and flexible body swimmers.

Biological micro/nanorobots case studies:

Lectures will discuss the microrobots that combine microbiology with engineered system. His

will include the methods to culture microorganisms, to harness their propulsive power, to obtain

bionanomaterial, and to exploit external stimuli for control. Case studies will include the

Flagellar nanoswimmers, Bacteria-power microrobots, Tetrahymena microrobots,

magnetotactic bacteria, etc.

Microfabrication Techniques:

Lectures will explore microfabrication technologies that were used for existing microrobots.

This will include a various of techniques such as photolithograph, soft lithography, etching, thin

film deposition, etc.

Nanofabrication Techniques:

Lectures will explore nanofabrication technologies that were used for existing microrobots.

This will include a various of techniques such as direct laser writing, templated directed

electrodeposition, self-scrolling, shadow-growth, underpotential deposition, etc.

Control methods:

Lectures will cover the control systems used for various types of microrobots. The lectures will

focus mostly in the development and functions of magnetic controllers, including hardware and

software.

Imaging and Tracking:

Lectures will cover the imagining and tracking techniques used in microrobotic control

systems. Due to the size of the microrobots, microscopes must be used for visualization. For

data analysis and control, vision based tracking must also be employed. Lessons will introduce

the use of MATLAB to develop tracking algorithms.

Project Proposal Presentation:

Students are expected to have chosen a topic for the course project and have done basic

research. Students will give a 10-minute presentation on their plans for completing the project.

Magnetism force and torque:

Most micro/nanorobots are controlled using magnetic fields; therefore, this week’s lectures will

introduce relevant concepts in magnetism. Lesson will cover the use of applied magnetic force

and torque to actuate micro/nanorobots.

Magnetic field generation:

Lectures will include the practical application of electromagnetic coils to generate magnetic

fields for controlling microrobots. Students will learn how to design electromagnetic coil

systems with precise magnetic field generation. Concepts such as Helmholtz coils and Maxwell

coils will be introduced. The contents of this week’s lecture will be driven by the theoretical

concepts from the previous week’s topic.

Particle Image Velocimetry (PIV):

Lectures will cover the use Particle Image Velocimetry (PIV) to study the hydrodynamics of

swimming microrobots at low Reynolds number. If time permits, lectures will also cover the

use of Finite Element Analysis to study the flow fields of microrobots.

Applications:

Lectures will include in-depth case studies of the most advanced application of

micro/nanorobotics to this day such as surface transportation, tissue incision, retinal veins

puncture, cell scaffolding, drug delivery, etc.

Final Project Presentations:

Students are expected to work in teams to design of a viable microrobot that incorporate the

knowledge gained throughout the course. Students will be required to submit a final report and

give a 10-minute presentation during the last week of class.

18.

教材及其它参考资料 Textbook and Supplementary Readings

Textbook (Suggested, not required): M.J. Kim, A.A. Julius, and U K. Cheang, Microbiorobotics Biologically

Inspired Microscale Robotic Systems, 2nd edition

Textbook (Suggested, not required): M.J. Kim, A.A. Julius, and E.B. Steager, Microbiorobotics Biologically

Inspired Microscale Robotic Systems, 1st edition

Textbook (Suggested, not required): K. Breuer, Microscale Diagnostic Techniques

Assortment of journal and conference papers

课程评估 ASSESSMENT

19.

评估形式

Type of

Assessment

评估时间

Time

占考试总成绩百分比

% of final

score

违纪处罚

Penalty

备注

Notes

出勤 Attendance

无

课堂表现

Class

Performance

无

小测验

Quiz

无

课程项目 Projects

6 hours

30%

Adhere to

school policy

on academic

integrity

平时作业

Assignments

2 hours per week

40%

Adhere to

school policy

on academic

integrity

期中考试

Mid-Term Test

无

期末考试

Final Exam

无

期末报告

Final

Presentation

3 hours

20%

Adhere to

school policy

on academic

integrity

其它（可根据需要

改写以上评估方

式）

Others (The

above may be

modified as

necessary)

无

20.

记分方式 GRADING SYSTEM

√ A. 十三级等级制 Letter Grading

 B. 二级记分制（通过/不通过） Pass/Fail Grading

课程审批 REVIEW AND APPROVAL

21.

本课程设置已经过以下责任人/委员会审议通过

This Course has been approved by the following person or committee of authority