课程大纲
COURSE SYLLABUS
1.
课程代码/名称
Course Code/Title
微型机器人 Microrobotics
2.
课程性质
Compulsory/Elective
专业课
3.
课程学分/学时
Course Credit/Hours
48/3
4.
授课语言
Teaching Language
英文授课 English
5.
授课教师 Instructor(s)
郑裕基 U Kei Cheang
6.
是否面向本科生开放
Open to
undergraduates
or not
是 Yes
7.
先修要求
Pre-requisites
研究生： 无
本科生：ME307 控制工程基础或者 ME307-16 控制工程基础 Fundamentals of
Control
8.
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.
9.
教学方法 Teaching Methods
Lectures with PowerPoint.
10.
教学内容 Course Contents
Introduction: Lecture will include an introduction of the history of this field of research.
The lecture will introduce the motivation of microrobotics and the ongoing
developments in this field. Lecture also will introduce an overview of the essential
technologies used in this field, such as microfabrication techniques, control systems,
and imaging capability, and their limitations.
Research of the instructor: Lecture will discuss the microrobotics research lead by the
instructor, including the particle based microrobots and other key projects.
Fluids Mechanics: Lecture will be a refresher on basic fluid mechanic concepts which
will serve as foundation for microscale fluid mechanics
Scaling Laws from macro to micro/nano: Lecture will include the principles behind
scaling mobile robots from macroscale to microscale.
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. Lecture will include stokes flow, scallop theorem, nonreciprocal motion,
etc.
Microscale Mechanics: This topic will cover the relative importance of force at the
microscale. Lecture will include various surface forces such as force that lead to
adhesion and friction. Specific microfluidic phenomena will also be discussed, such
as Brownian motion, viscous drag, Stoke’s law, etc.
Diffusivity: Lecture 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. Lecture will cover theoretical calculation of diffusion related
parameters as well as experimental techniques to measure diffusion.
Bio-inspired and inorganic micro/nanorobots case studies: Lecture 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.
Biological micro/nanorobots case studies: Lecture will discuss the microrobots that
combine microbiology with engineered system. This 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.
Engineering design of swimming mechanism: Lecture will discuss the use of engineered
nonreciprocal swimming mechanisms that are effective at low Reynolds number.
Lectures will introduce biologically inspired locomotion, theoretical locomotion such
as the “Taylor sheet” and “Pushmepullyou” swimmers, and practical locomotion.
Introduction to existing micro/nanorobots (Part 1): After gaining a foundation into the
fundamental knowledge in microrobotics from the previous weeks, this week’s
lecture will dive deeper into the design, fabrication, control of micro/nanorobots
currently in development. The lecture focus will be on helical chiral swimmers
Introduction to existing micro/nanorobots (Part 2): After gaining a foundation into the
fundamental knowledge in microrobotics from the previous weeks, this week’s
lecture will dive deeper into the design, fabrication, control, applications aspects of
micro/nanorobots currently in development. This lecture will focus on flexible body
swimmers, chemical swimmers, and surface microrobots.
Applications examples: To facilitate the course project, the instructor will spend time at
the beginning of lecture to introduce examples of possible applications for
micro/nanorobotics. This will give the students an idea on what type of applications
that can choose to address in their projects.
Microfabrication Techniques: Lecture will explore microfabrication technologies that
were used for existing microrobots and related engineered systems. This will include
a various of techniques such as photolithograph, soft lithography, etching, thin film
deposition, etc.
Nanofabrication Techniques: Lecture will explore nanofabrication technologies that
were used for existing micro/nanorobots and related engineered systems. This will
include a various of techniques such as direct laser writing, templated directed
electrodeposition, self-scrolling, shadow-growth, underpotential deposition, etc.
Control methods: Lecture will cover the control systems used for various types of
microrobots. The lecture will focus mostly on the development and functions of
magnetic controllers, including hardware and software.
Imaging and Tracking: Lecture 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 15-minute
presentation on their plans for completing the project. A midterm report is also
required.
Magnetism force and torque: Most micro/nanorobots are controlled using magnetic
fields; therefore, this week’s lecture will introduce relevant concepts in magnetism.
Lecture will cover the use of applied magnetic force and torque to actuate
micro/nanorobots.
Magnetic field generation: Lecture 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.
Feedback and Multiple Robot Control: Lecture will cover strategies for controlling one
or more microrobots. For more than one robots, it is an ongoing problem in
microrobotics due to the fact that a global signal is often used to control microrobots;
therefore, it is not possible to give individual inputs to individual robot. However,
researcher have come up with ways to overcome this problem.
Particle Image Velocimetry (PIV): Lecture will cover Microscale Particle Image
Velocimetry (µPIV) to study the hydrodynamics of swimming microrobots at low
Reynolds number. If time permits, lecture will also cover the use of Finite Element
Analysis (FEA) to study the flow fields of microrobots.
Applications: Lecture will cover in-depth case studies of the current state and future
prospect of applications demonstrated by micro/nanorobotics such as transportation,
tissue incision, retinal veins puncture, cell scaffolding, drug delivery, etc.
Non-Newtonian Mechanics: Lecture will cover non-Newtonian fluid mechanics. Due to
the non-linearity of non-Newtonian mechanics, the Purcell theorem no long holds.
Thus, it is not valid to only consider the microscale mechanics discussed in previous
lecture.
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 15-minute final presentation
during the last week of class.
11.
课程考核 Course Assessment
Attendance 10 %
Homework 30 %
Design Project 60 %
Midterm presentation 15 %
Midterm report 15 %
Final presentation 15 %
Final report 15 %
-----------------------------------------------------
Total 100 %
12.
教材及其它参考资料 Textbook and Supplementary Readings
Textbook (Suggested, not required): Metin Sitti, Mobile Microrobotics
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