Objectives and competences
The objective of this course is to acquaint students with control concepts of micro and nanorobot systems with focus to design of grippers for micro and nano particles and building of micro-sized objects.
Content (Syllabus outline)
• Introduction: definition of nanotechnology, nanomaterials, nanotubes, definition of microrobotics and nanorobotics, presentation of basic physical laws, describing the electric field, presentation of dynamics of a mechanical drive, presentation of forces which affects the micro and nano particles in space.
• Microrobot: piezoelectric actuator, design and production of a micromanipulator mechanism, design of a microrobot system, measurement of a microrobot tip with a computer vision, measurement of a microrobot tip with an incremental linear encoder, control of a micromanipulator in the closed control loop.
• Nanorobot: design and production of a nanomanipulator, production of a nanorobot system, measurement of a nanorobot tip with an incremental linear encoder, control of a nanomanipulator in the position closed control loop.
• Grippers for micro robots and nanorobots: design and production of piezoelectric driven two-finger mikrogrippers with microstructured glass or polymers, design and production of pneumatic grippers with glass microtubes, a gripper with matrix of glass microtubes, termal two-finger gripper, dielectrophoresys grippers, grippers based on the van der Waals force.
Learning and teaching methods
• lectures,
• tutorial,
• lab work.
Intended learning outcomes - knowledge and understanding
On completion of this course the student will be able to
• demonstrate knowledge and understanding of advanced control concepts of micro and nanorobot systems,
• be able to design, implement and use of micro and nano grippers and micro objects.
Intended learning outcomes - transferable/key skills and other attributes
Communication skills: oral lab work defence, writing of technical report of completed exercises.
Use of information technology: use of multipurpose program tools and tools for rapid prototyping of products and processes.
Problem solving: production of micro and nano grippers.
Working in a group: work in group at lab work.
Readings
• C. S. George Lee: Sensor-Based Robots: Algorithms and Architectures, Springer Verlag, Berlin, 1988.
• M. H. Lee: Intelligent robotics, Halsted press, Univerza v Ljubljani, Fakulteta za elektrotehniko, Ljubljana, 1989.
• K. S. Fu, R. C. Gonzales: Robotics: Control, Sensing, Vision, and Intelligence, Mc-Graw Hill Book Company, 1987.
• E-skripta: R. Šafarič: Robotika I, FERI, UM, 2005. (e-naslov: https://estudij.um.si/course/view.php?id=15002)
Additional information on implementation and assessment Both midterm exams may be replaced by a written exam.
