用于自发追踪环境中等化学轮廓的微型机器人设计

IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-09-09 DOI:10.1002/aisy.202400002
A. Merritt Brooks, Sungyun Yang, Byung Ha Kang, Michael S. Strano
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引用次数: 0

摘要

微型机器人平台在推动从医学到环境传感等多个领域的发展方面具有巨大潜力。在这里,以现代实验室或洁净室中容易实现的最先进功能为模型,对最小功能机器人实体进行了计算模拟。受 Dou 和 Bishop(Phys Rev Res. 2019;1(3):1-5)的启发,研究表明,单向转向与单个环境(化学)传感器的简单组合以及恒定推进力可产生具有重大实用价值的高度复杂功能。这种系统可以追踪与环境中任意化学梯度正交的轮廓。此外,一对能够发射相同化学信号的机器人还表现出耦合相对运动。当这对机器人在二维平面内向相反方向单向转向(即反向旋转)时,它们的运动轨迹相互平行。或者,当转向方向相同时(自转),二者的运动轨迹也是相同的。这样,单向转向的奇异性就产生了两种截然不同的突发现象。这种行为可以理解为一种棘轮机制,它利用了不同空间位置对应的曲率半径差异。本文讨论了其在环境检测、修复和监测方面的应用。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

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A Microrobotic Design for the Spontaneous Tracing of Isochemical Contours in the Environment

Microrobotic platforms hold significant potential to advance a variety of fields, from medicine to environmental sensing. Herein, minimally functional robotic entities modeled on readily achievable state-of-the-art features in a modern lab or cleanroom are computationally simulated. Inspired by Dou and Bishop (Phys Rev Res. 2019;1(3):1–5), it is shown that the simple combination of unidirectional steering connected to a single environmental (chemical) sensor along with constant propulsion gives rise to highly complex functions of significant utility. Such systems can trace the contours orthogonal to arbitrary chemical gradients in the environment. Also, pairs of such robots that are additionally capable of emitting the same chemical signal are shown to exhibit coupled relative motion. When the pair has unidirectional steering in opposite directions within the 2D plane (i.e., counter-rotating), they move in parallel trajectories to each other. Alternatively, when steering is in the same direction (corotation), the two move in the same epicyclical trajectory. In this way, the chirality of the unidirectional steering produces two distinct emergent phenomena. The behavior is understood as a ratchet mechanism that exploits the differential in the radii of curvature corresponding to different spatial locations. Applications to environmental detection, remediation, and monitoring are discussed.

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CiteScore
1.30
自引率
0.00%
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审稿时长
4 weeks
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