We present a novel motion control technique for microrobot clusters to exploit the characteristics of the ultrasonic field.The method comprises two steps,i.e.,introducing an ultrasonic actuation(UA)linear model for th...We present a novel motion control technique for microrobot clusters to exploit the characteristics of the ultrasonic field.The method comprises two steps,i.e.,introducing an ultrasonic actuation(UA)linear model for three-dimensional(3D)locomotion and controlling the topological charge(TC)in the ultrasonic vortex for microrobot clustering.Here,the TC is a controllable parameter for the expansion and contraction of the pressure null space inside the vortex.We present a TC control method to cluster sporadically distributed microrobots in a specific workspace.To validate the concept,a UA system composed of 30 ultrasonic transducers with 1 MHz frequency is fabricated,and the characteristics of the generated acoustic pressure field are analyzed through simulations.Subsequently,the performances of the adaptive controller for precise 3D locomotion and the TC control method for clustering are evaluated.Finally,the UA technology,which performs both clustering and locomotion in a complex manner,is validated with a gelatin phantom in an in-vitro environment.展开更多
The electrochemical oxidation of 1, 3-benzenedithiol was investigated in a 0. 100 mol/L tetrabutylammonium perchlorate/acetonitrile electrolyte. The electrochemical techniques used were potential sweep, bulk electroly...The electrochemical oxidation of 1, 3-benzenedithiol was investigated in a 0. 100 mol/L tetrabutylammonium perchlorate/acetonitrile electrolyte. The electrochemical techniques used were potential sweep, bulk electrolysis, rotating disc and the potential step method. The combination of the techniques yielded the number of electrons transferred per molecule, the reaction order, the transfer coefficient, the diffusion coefficient and concentration of dithiol anions, the standard heterogeneous rate constant as well as the formal potential and equilibrium constant of the preceeding dissociation reaction. This paper also illustrates the methods for studying the electrode kinetics of reactions which (a) involve a chemical reaction preceeding the electron-transfer process, (b) have insoluble polymer products, and (c) are totally irreversible.展开更多
基金Project supported by the Korea Health Technology Development R&D Project through the Korea Health Industry Development Institute(KHIDI)funded by the Ministry of Health&Welfare,Republic of Korea(No.HI19C0642)the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(No.2023R1A2C2003086)。
文摘We present a novel motion control technique for microrobot clusters to exploit the characteristics of the ultrasonic field.The method comprises two steps,i.e.,introducing an ultrasonic actuation(UA)linear model for three-dimensional(3D)locomotion and controlling the topological charge(TC)in the ultrasonic vortex for microrobot clustering.Here,the TC is a controllable parameter for the expansion and contraction of the pressure null space inside the vortex.We present a TC control method to cluster sporadically distributed microrobots in a specific workspace.To validate the concept,a UA system composed of 30 ultrasonic transducers with 1 MHz frequency is fabricated,and the characteristics of the generated acoustic pressure field are analyzed through simulations.Subsequently,the performances of the adaptive controller for precise 3D locomotion and the TC control method for clustering are evaluated.Finally,the UA technology,which performs both clustering and locomotion in a complex manner,is validated with a gelatin phantom in an in-vitro environment.
文摘The electrochemical oxidation of 1, 3-benzenedithiol was investigated in a 0. 100 mol/L tetrabutylammonium perchlorate/acetonitrile electrolyte. The electrochemical techniques used were potential sweep, bulk electrolysis, rotating disc and the potential step method. The combination of the techniques yielded the number of electrons transferred per molecule, the reaction order, the transfer coefficient, the diffusion coefficient and concentration of dithiol anions, the standard heterogeneous rate constant as well as the formal potential and equilibrium constant of the preceeding dissociation reaction. This paper also illustrates the methods for studying the electrode kinetics of reactions which (a) involve a chemical reaction preceeding the electron-transfer process, (b) have insoluble polymer products, and (c) are totally irreversible.