Geometric Self Propelled Articulated Micro-Scale Devices

Novel techniques in micro-fabrication are integrated with geometric-based motion planning techniques to dramatically change the fundamental capabilities in applications as diverse as noninvasive surgical procedures and nano-scale manufacturing. This integration is achieved through the development of a closed-loop process that informs mechanical design via geometric modeling, constructs prototype systems across different physical scales, and conducts experimental trials to validate results. This approach is used to construct cyber-physical systems at the micro-scale that are optimized both for locomotion and relative manufacturing ease. The Travers and Taylor labs at Carnegie Mellon University have demonstrated one example of this approach in their development of a macro-scale prototype that consists of a two-link swimming system that executes lateral translation, turning-in-place, and trajectory tracking via excitation through an external magnetic field [1]. This swimming model will be used to inform the design of a miniaturized version of the swimmer (micron-scale) constructed via a novel templating of magnetized micro-beads and subsequently linking the beads using DNA origami. This work expands our current knowledge of the integrated design of cyber-physical systems to include micro-scale devices, thereby providing new tools to other researchers interested in constructing novel medical devices and micromanipulation applications.

[1] Grover, J., Vedova, D., Jain, N., Vedova, P., Travers, M., & Choset, H. (2018). Trajectory Generation for Millimeter Scale Ferromagnetic Swimmers: Theory and Experiments. Retrieved from http://arxiv.org/abs/1810.11191