At the invitation of Professor Ding Huafeng, Dean of the School of Mechanical Engineering and Electronic Information, Xu Tiantian, a research at Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, delivered an academic report in this School.
Title: Multi-modal motion and cooperative control of magnetic driven soft film micro-robot
Reported by: Xu Tiantian
Report time: 14:00 - 16:00 p.m., October 25, 2022 (Tuesday)
Report form: Tencent Meeting: Meeting No.: 400-476-736
Profile of the reporter:
Xu Tiantian, a researcher at the Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, and a Ph.D. in robotics from the University of Paris VI, has been awarded the National Natural Science Foundation of China for Outstanding Young Scholars, and has been selected for the Youth Innovation Promotion Association CAS and the Guangdong Top Young Talents. She has conducted long-term systematic research in magnetic driven micro-robots, optimized the design to improve the motion efficiency of micro-robots, solved the multimodal motion problem of soft micro-robots, established the autonomous path planning and visual servo motion control method for micro-robots, developed the system platform and carried out application research in biomedical science. She has published papers in top journals in the field of robotics for many times, including IEEE Transaction on Robotics, IEEE/ASME TMech, IEEE TASE, IEEE TII and other Q I journals, including four ESI highly cited papers; she has published papers and presented in ICRA and IROS (two top international academic conferences in robotics) for many times, and won the Best Application Paper Award (1/2494) at IROS in 2019, the top international academic conference on robotics. She has won the Second Prize of Wu Wenjun AI Natural Science Award (ranking first), the First Prize of Guangdong Science and Technology Progress Award, Shenzhen Youth May 4th Medal, Xiong Youlun Zhihu Outstanding Young Scholar Award, etc. She serves as the editorial board member of 2 international journals on robotics, IEEE T-ASE and IEEE RAL.
Report summary:
Micro-robots, as large as a few millimeters and as small as a few microns, can easily operate in complex and tight spaces. Micro-robots with good biocompatibility and soft material texture for multimodal intelligent movements have great application potential in bioengineering and in vivo targeted therapy. The existing magnetic driven micro-robots still remain in simple drive control, and it is a great challenge to achieve precise motion control to solve practical problems. The report will focus on the motion control of soft film micro-robot, and introduce the visual servo 3D path tracking control of the magnetic driven soft film micro-robot, as well as the multi-modal motion mechanism for complex environment. It is a big challenge for micro-robots to make different motions and work together in the same external magnetic field. The anisotropic nature of a single micro-robot is the key to controlling the motion of multiple micro-robots in the same magnetic field. Based on the study of magnetization direction and motion efficiency of soft robots, the heterogeneous magnetization direction of thin-film robots is designed to control the speed difference of different micro-robots to achieve cooperative control. The final realization of independent position control of four soft film micro-robots and independent path control of three micro-robots provides a theoretical basis and technical basis for the synergistic targeting of soft film micro-robots in living organisms.
School of Mechanical Engineering and Electronic Information
Oct. 12, 2022
