Table Of ContentMicrobiorobotics
Microbiorobotics
Biologically Inspired Microscale Robotic Systems
Second Edition
Edited by
MinJun Kim
Anak Agung Julius
U Kei Cheang
Elsevier
Radarweg29,POBox211,1000AEAmsterdam,Netherlands
TheBoulevard,LangfordLane,Kidlington,OxfordOX51GB,UnitedKingdom
50HampshireStreet,5thFloor,Cambridge,MA02139,UnitedStates
Copyright©2017ElsevierInc.Allrightsreserved.
Nopartofthispublicationmaybereproducedortransmittedinanyformorbyanymeans,electronicormechanical,
includingphotocopying,recording,oranyinformationstorageandretrievalsystem,withoutpermissioninwritingfrom
thepublisher.Detailsonhowtoseekpermission,furtherinformationaboutthePublisher’spermissionspoliciesandour
arrangementswithorganizationssuchastheCopyrightClearanceCenterandtheCopyrightLicensingAgency,canbe
foundatourwebsite:www.elsevier.com/permissions.
ThisbookandtheindividualcontributionscontainedinitareprotectedundercopyrightbythePublisher(otherthanas
maybenotedherein).
Notices
Knowledgeandbestpracticeinthisfieldareconstantlychanging.Asnewresearchandexperiencebroadenour
understanding,changesinresearchmethods,professionalpractices,ormedicaltreatmentmaybecomenecessary.
Practitionersandresearchersmustalwaysrelyontheirownexperienceandknowledgeinevaluatingandusingany
information,methods,compounds,orexperimentsdescribedherein.Inusingsuchinformationormethodstheyshould
bemindfuloftheirownsafetyandthesafetyofothers,includingpartiesforwhomtheyhaveaprofessional
responsibility.
Tothefullestextentofthelaw,neitherthePublishernortheauthors,contributors,oreditors,assumeanyliabilityfor
anyinjuryand/ordamagetopersonsorpropertyasamatterofproductsliability,negligenceorotherwise,orfromany
useoroperationofanymethods,products,instructions,orideascontainedinthematerialherein.
LibraryofCongressCataloging-in-PublicationData
AcatalogrecordforthisbookisavailablefromtheLibraryofCongress
BritishLibraryCataloguing-in-PublicationData
AcataloguerecordforthisbookisavailablefromtheBritishLibrary
ISBN:978-0-323-42993-1
ForinformationonallElsevierpublicationsvisitour
websiteathttps://www.elsevier.com/books-and-journals
Publisher:MatthewDeans
AcquisitionEditor:SimonHolt
EditorialProjectManager:SabrinaWebber
ProductionProjectManager:Julie-AnnStansfield
Designer:GregHarris
TypesetbyVTeX
Contributors
WalidAmokrane
HEICentrecampus,Châteauroux,France
AaronT.Becker
UniversityofHouston,Houston,TX,UnitedStates
KarimBelharet
HEICentrecampus,Châteauroux,France
DavidCappelleri
PurdueUniversity,WestLafayette,IN,UnitedStates
UKeiCheang
DrexelUniversity,Philadelphia,PA,UnitedStates
JongeunChoi
YonseiUniversity,Seoul,SouthKorea
SagarChowdhury
PurdueUniversity,WestLafayette,IN,UnitedStates
AntoineFerreira
UniversityofOrléans,Bourges,France
PeerFischer
MaxPlanckInstituteforIntelligentSystems,Stuttgart,Germany;
UniversityofStuttgart,Stuttgart,Germany
JiwonHan
ChonnamNationalUniversity,Gwangju,SouthKorea
WumingJing
PurdueUniversity,WestLafayette,IN,UnitedStates
AnakAgungJulius
RensselaerPolytechnicInstitute,Troy,NY,UnitedStates
SunghwanJung
VirginiaTech,Blacksburg,VA,UnitedStates
xi
xii Contributors
IslamS.M.Khalil
TheGermanUniversityinCairo,NewCairoCity,Egypt
DalHyungKim
RowlandInstituteatHarvardUniversity,Cambridge,MA,UnitedStates
HoyeonKim
SouthernMethodistUniversity,Dallas,TX,UnitedStates
MinJunKim
SouthernMethodistUniversity,Dallas,TX,UnitedStates
PaulSeungSooKim
DrexelUniversity,Philadelphia,PA,UnitedStates
VijayKumar
UniversityofPennsylvania,Philadelphia,PA,UnitedStates
DejanMilutinovic´
UniversityofCalifornia,SantaCruz,SantaCruz,CA,UnitedStates
SarthakMisra
UniversityofTwente,Enschede,TheNetherlands
YanOu
RensselaerPolytechnicInstitute,Troy,NY,UnitedStates
StefanoPalagi
MaxPlanckInstituteforIntelligentSystems,Stuttgart,Germany
Jong-OhPark
ChonnamNationalUniversity,Gwangju,SouthKorea
SukhoPark
DaeguGyeongbukInstituteofScienceandTechnology,Daegu,SouthKorea
TianQiu
MaxPlanckInstituteforIntelligentSystems,Stuttgart,Germany;
SwissFederalInstituteofTechnologyinLausanne,Lausanne,Switzerland
MahmutSelmanSakar
SwissFederalInstituteofTechnologyinLausanne,Lausanne,Switzerland
Contributors xiii
EdwardB.Steager
UniversityofPennsylvania,Philadelphia,PA,UnitedStates
DeboraWalker
MaxPlanckInstituteforIntelligentSystems,Stuttgart,Germany
DeniseWong
UniversityofPennsylvania,Philadelphia,PA,UnitedStates
About the editors
MinJunKim,PhD
Dr.MinJunKimispresentlytheRobertC.WomackEndowedChairProfessorattheDepart-
mentofMechanicalEngineeringofSouthernMethodistUniversity.HereceivedhisBSandMS
degreesinMechanicalEngineeringfromYonseiUniversityinKoreaandTexasA&MUniver-
sity,respectively.Dr.KimcompletedhisPhDdegreeinEngineeringatBrownUniversity,where
heheldtheprestigiousSimonOstrachFellowship.Followinghisgraduatestudies,Dr.Kimwas
apostdoctoralresearchfellowattheRowlandInstituteofHarvardUniversity.HejoinedDrexel
Universityin2006asanAssistantProfessorandwaslaterpromotedtoProfessorofMechanical
EngineeringandMechanics.SinceAug.2016,hehasbeentheDirectoroftheCenterforBio-
logicalActuation,SensingandTransport(CBAST)attheLyleSchoolofEngineering.Dr.Kim
hasbeenexploringbiologicaltransportphenomenaincludingcellular/molecularmechanicsand
engineeringinnovelnano/microscalearchitecturestoproducenewtypesofnanobiotechnology,
suchasnanoporetechnologyandnano/microrobotics.HisnotableawardsincludetheNational
ScienceFoundationCAREERAward(2008),DrexelCareerDevelopmentAward(2008),Hu-
manFrontierScienceProgramYoungInvestigatorAward(2009),ArmyResearchOfficeYoung
Investigator Award (2010), Alexander von Humboldt Fellowship (2011), Bionic Engineering
OutstandingContributionAward(2013),Louis&BessieSteinFellowship(2014),ISBEFel-
low(2014),ASMEFellow(2014),KOFSTBrainPoolFellowship(2015),andNetexploAward
(2016).
AnakAgungJulius,PhD
Dr.AnakAgungJuliusisanAssistantProfessorattheDepartmentofElectrical,Computer,and
SystemsEngineeringattheRensselaerPolytechnicInstitutesinceDecember2008.Heearned
thePhDdegreeinappliedmathematicsfromtheUniversityofTwente,theNetherlandsin2005.
From2005to2008,hewasaPostdoctoralResearcherattheUniversityofPennsylvania.
Dr.Julius’researchinterestsincludesystemsandcontrol,systemsbiology,stochasticmodels
in systems biology,control of biological systems,hybrid systems,and mathematical systems
theory. Dr. Julius has published 21 peer-reviewed journal articles and over 60 peer-reviewed
conference articles. Heis a co-author of the Best Application Paper in the 10th International
Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2013), and a finalist for
the Best Paper Award at the IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS 2013). Dr. Julius is serving as an Associate Editor in the IEEE Transactions
inAutomationScienceandEngineering,theJournalofNonlinearAnalysis:HybridSystems,
and theIEEE Control SystemsSociety Conference Editorial Board.Heisalsoaco-editor of
xv
xvi Abouttheeditors
thebookMicrobiorobotics(ISBN1455778915)andMathematicalControlTheoryI:Nonlinear
and Hybrid Control Systems (ISBN 3319209876). He received an NSF CAREER award in
2010,andRensselaerSchoolofEngineeringResearchExcellenceAwardforJuniorFacultyin
2016.
UKeiCheang,PhD
Dr.UKeiCheangisapost-doctoralresearcherattheDepartmentofMechanicalEngineering
andMechanicsofDrexelUniversity.Dr.CheangreceivedhisPhDinMechanicalEngineering
atDrexelUniversityin2015wherehewassupportedbytheNSFGraduateResearchFellow-
shipProgram(GRFP),theNSFIGERTFellowship,andtheNSFEastAsiaandPacificSummer
Institutes(EAPSI)Fellowship.Dr.Cheang’sresearchisinMicro/Nanoroboticsandentailsthe
developmentofmobilemicroandnanoscaleswimmingrobots.Hisresearchencompassescon-
trols,micro/nanofabrication,andmicro/nanofluidics.Dr.Cheanghaspublished8peer-reviewed
journalpapersandwasrecentlyawardedtheBestConferencePaperAwardinthe13thInterna-
tionalConferenceonUbiquitousRobotsandAmbientIntelligence(URAI2016).Hisworkon
theroboticsmicroswimmerswasawardedthetop10NetexploAwardin2016.
Preface
Building robotics system in the microscale is an engineering task that has resulted in many
importantapplications,rangingfrommicroscaleassemblytocellularmanipulation.However,
itisalsoaverychallengingengineeringtask.Oneofthereasonsisduetothefactthatmany
engineeringideasandprincipleswhichareusedonlargerscalesdonotscalewellintothesmall
world.Forexample,locomotionprinciplesinfluidicenvironmentdonotscalebecauseofthe
differencein(orderof)theReynoldsnumbers.Theuseofrotationalmotorsisalsoimpractical
becauseofthechallengesrelatedtobuildingofthecomponents.
Similar challenges exist in the effort to realize sensing mechanisms. Macroscale positioning
techniquessuchasglobalsatellitepositioningsystemsoracousticpositioningsensorssimply
donotoffermicroscaleresolution.Thefundamentalwavelengthsforsuchoperationsaremuch
largerthanthescaleoftherobotsthemselves.Forvision-basedsensing,componentsfortypical
on-boardroboticvisionarealsomuchlargertointegratewithmicroscalerobots.
Ontheotherhand,microorganismshaveevolvedvariousmechanismstothriveinsuchanen-
vironment.Microbialcellsusevariousstructures,suchasflagellaandciliatogeneratemotion.
Theyhavealsodevelopedvariouschemicalreceptorsandcellularsignalingmechanismstode-
tect and process sensoryinformation from their environment. Thisis evident inthe observed
motility behavior of microorganisms,which includes phenomena suchas chemotaxis, photo-
taxis,thermotaxis,andothers.
Recently, synthetic microrobots have become very common in this field. Various locomotive
mechanismsareinspiredbymicroorganisms.Withtheadvancesinmicrofabricationtechnolo-
gies, microscale actuators can be fabricated on a massive scale which is an indication of the
feasibility to utilize artificially fabricated actuators. However, there exist technological lim-
itations in creating micro or nanoscale on-board power supply and sensors, thus, synthetic
microrobots aregenerally simplisticingeometry andrely on an external powersourcessuch
asmagneticfields.Nonetheless,futureadvancesinfabricationtechnologiesandbiocompatible
materialswillenabletheuseofsyntheticmicrorobotsforfutureapplications.
This book covers the use of biological and synthetic systems in microscale robotics applica-
tions.Threemaintopicsthatarecoveredare:
– TheoreticalMicrobiorobotics
– BiologicalMicrorobots
– SyntheticMicrorobots
In these topics, we have solicited contribution from leading researchers in the area so as to
provideabalancedtreatmentbetweenthetheoreticalanalysisandexperimentalresults.
xvii
