Tumbling Magnetic Microrobots for Biomedical Applications
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This paper presents a magnetic microrobot that demonstrates the ability to travel through wet conditions inside a murine colon. Under the influence of an external rotating magnetic field, it tumbles end-over-end to propel itself forward. The microrobot's real-time position can be accurately tracked using ultrasound imaging to help guide it to a desired target location. Diffusion tests were conducted and show that the microrobot releases a fluorescein payload over a two hour time period when it is applied as a coating. Cytotoxicity tests demonstrated that the microrobot's SU-8 body doped with magnetic NdFeB particles is also biocompatible with murine fibroblasts. The microrobot's capabilities make it promising for targeted drug delivery and other in vivo biomedical applications.Keywords:
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Coordinated defensive escorts can aid a navigating payload by positioning themselves in order to maintain the safety of the payload from obstacles. In this paper, we present a novel, end-to-end solution for coordinating an escort team for protecting high-value payloads. Our solution employs deep reinforcement learning (RL) in order to train a team of escorts to maintain payload safety while navigating alongside the payload. This is done in a distributed fashion, relying only on limited range positional information of other escorts, the payload, and the obstacles. When compared to a state-of-art algorithm for obstacle avoidance, our solution with a single escort increases navigation success up to 31%. Additionally, escort teams increase success rate by up to 75% percent over escorts in static formations. We also show that this learned solution is general to several adaptations in the scenario including: a changing number of escorts in the team, changing obstacle density, and changes in payload conformation. Video: https://youtu.be/SoYesKti4VA.
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A concept of using paraffin wax phase change material (PCM) with a melting point between -10 deg C and 10 deg C for payload thermal energy storage in a Space Exploration Technologies (SpaceX) Dragon trunk is presented. It overcomes the problem of limited heater power available to a payload with significant radiators when the Dragon is berthed to the International Space Station (ISS). It stores adequate thermal energy to keep a payload warm without power for 6 hours during the transfer from the Dragon to an ExPRESS logistics carrier (ELC) on the ISS.
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This paper presents a simplified model-based trajectory optimization (TO) formulation for motion planning on quadruped mobile manipulators that carry heavy payload of known mass. The proposed payload-aware formulation simultaneously plans locomotion, payload manipulation and considers both robot and payload model dynamics while remaining computationally efficient. At the presence of heavy payload, the approach exhibits reduced leg outstretching (thus increased manipulability) in kinematically demanding motions due to the contribution of payload manipulation in the optimization. The framework's computational efficiency and performance is validated through a number of simulation and experimental studies with the bi-manual quadruped CENTAURO robot carrying on its arms a payload that exceeds 15 % of its mass and traversing non-flat terrain.
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Coordinated defensive escorts can aid a navigating payload by positioning themselves in order to maintain the safety of the payload from obstacles. In this paper, we present a novel, end-to-end solution for coordinating an escort team for protecting high-value payloads. Our solution employs deep reinforcement learning (RL) in order to train a team of escorts to maintain payload safety while navigating alongside the payload. This is done in a distributed fashion, relying only on limited range positional information of other escorts, the payload, and the obstacles. When compared to a state-of-art algorithm for obstacle avoidance, our solution with a single escort increases navigation success up to 31%. Additionally, escort teams increase success rate by up to 75% percent over escorts in static formations. We also show that this learned solution is general to several adaptations in the scenario including: a changing number of escorts in the team, changing obstacle density, and changes in payload conformation. Video: this https URL.
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Emulsion stabilized by solid particles that accumulate at the surface of droplets is called Pickering emulsion. Depending on the application, solid particles of different properties can be utilized as stabilizers. Magnetic nanoparticles are interesting choice as they can stabilize the emulsion and become heat sources in the presence of external magnetic field. To generate heat, researchers commonly use easily accessible alternating magnetic field, however, the use of rotating magnetic field yields possibility of higher heat output. Our study presents results of calorimetric measurements obtained for oil-in-oil emulsion stabilized by magnetic nanoparticles under the influence of a rotating magnetic field. In our system rotating magnetic field is produced by four separate magnetic fluxes shifted in phase and space by 90°. Results show that the use of rotating magnetic fields efficiently heat Pickering emulsion stabilized by magnetite particles. It also provides improved heating effect comparing to alternating magnetic fields, regardless of shape of the stabilizing particles. The results for magnetic emulsions were also compared to those for magnetic suspensions.
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For more than ten years hundreds of payloads have been, and are currently being, successfully operated onboard the ISS. These payloads are operated by a diverse set of users all over the world. Due to the current international economic environment payload operations are being streamlined, in more and more cases, by using the payload investigators and scientists to also fill the role of operators. Taking this into consideration, increasingly, we have payload operators that are new to space operations and practices, therefore ground systems training and support have become a more critical aspect in ensuring a successful payload mission. The ISS ground systems payload interface is the Payload Operations and Integration Center (POIC), located at Marshall Space Flight Center. ISS ground systems training for all remote ISS payload operators, as well as the ISS POIC CADRE, are centralized at this facility. The POIC is the starting point for a remote payload operator to learn how to integrate, and operate their payload, successfully onboard the ISS. Additionally, the CADRE that supports the payload user community are trained and operate from this facility. This paper will give an overview of the ISS ground systems at the POIC, as it relates to the payload user/operator and CADRE community. The entire training process from initial contact with the POIC to in-flight operations will be reviewed and improvements to this process will be presented. More importantly we will present current training methods and proposed methodology whereby the user community will be trained more efficiently and thoroughly. Also, we will discuss how we can more effectively support users in their operations concept to programmatically conduct certain aspects of payload operations to reduce costs.
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International Space Station
Interface (matter)
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For legged devices, their ability of carrying payload is a necessity for a wide range of tasks. In this paper, we present a new approach of carrying payload by using a parallel elastic mechanism, which is able to carry payloads of at least 3 times of its bodyweight. Although the robot has no sensory feedback and consists of only two rigid bodies and one spring loaded joint, it is able to achieve efficient and stable forward hopping for a wide range of attached payload. The presented payload carrier ETH Cargo is based on the further development of our platform CHIARO for the payload range between 0 and 100kg. After parameter optimization using simulations, a series of real world experiments prove stable and high efficiency hopping of the prototype over a wide range of payloads.
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