Integrated system architecture with mixed-reality user interface for virtual-physical hybrid swarm simulations

This paper introduces a hybrid robotic swarm system architecture that combines virtual and physical components and enables human-swarm interaction through mixed reality (MR) devices. The system comprises three main modules: (1) the virtual module, which simulates robotic agents, (2) the physical module, consisting of real robotic agents, and (3) the user interface (UI) module. To facilitate communication between the modules, the UI module connects with the virtual module using Photon Network and with the physical module through the Robot Operating System (ROS) bridge. Additionally, the virtual and physical modules communicate via the ROS bridge. The virtual and physical agents form a hybrid swarm by integrating these three modules. The human-swarm interface based on MR technology enables one or multiple human users to interact with the swarm in various ways. Users can create and assign tasks, monitor real-time swarm status and activities, or control and interact with specific robotic agents. To validate the system-level integration and embedded swarm functions, two experimental demonstrations were conducted: (a) two users playing planner and observer roles, assigning five tasks for the swarm to allocate the tasks autonomously and execute them, and (b) a single user interacting with the hybrid swarm consisting of two physical agents and 170 virtual agents by creating and assigning a task list and then controlling one of the physical robots to complete a target identification mission.

Diamagnetically levitated nanopositioners with large-range and multiple degrees of freedom

Precision positioning stages are often central to science and technology at the micrometer and nanometer length scales. Compact, multi-degree-of-freedom stages with large dynamic range are especially desirable, since they help to improve the throughput and versatility in manipulation without introducing spatial constraints. Here, we report compact diamagnetically levitated stages, which employ dual-sided actuation to achieve large-range, six degrees-of-freedom positioning. Dual-sided actuation is demonstrated to enable trapping a magnet array in 3D, with independent control of the trap stiffness about two axes, independent control of forces in 3D and torque about 2 axes. A simplified model is proposed to directly relate these physical quantities to the necessary actuation currents. Experimentally, we demonstrate six degrees-of-freedom positioning with low cross-axis motion, large range and nanometer-scale resolution. In particular, here we show linear motion range of 5 mm with positioning precision better than 1.88 nm, and angular motion range of 1.1 radian with a resolution of 50 micro-radian. With the volume of the stage being between 10-20 cm³, its utility as a compact nano-positioner is showcased by using it to automatically replace the tip of an atomic force microscope probe.

Precision positioning stages are often central to science and technology at the micrometer and nanometer length scales. Here, the authors report compact, diamagnetically levitated positioning stages that achieve large-range, six degrees-of-freedom positioning with nanometer-scale precision.

Recent progress in actuation technologies of micro/nanorobots

As a research field of robotics, micro/nanorobots have been extensively studied in recent years because of their important application prospects in biomedical fields, such as medical diagnosis, nanoscale surgery, and targeted therapy. In this article, recent progress on micro/nanorobots is reviewed regarding actuation technologies. First, the different actuation mechanisms are divided into two types, external field actuation and self-actuation. Then, a few latest achievements on actuation methods are presented. On this basis, the principles of various actuation methods and their limitations are also analyzed. Finally, some key challenges in the development of micro/nanorobots are summarized and the next development direction of the field is explored.

Multifunctional magnetic soft composites: a review

Magnetically responsive soft materials are soft composites where magnetic fillers are embedded into soft polymeric matrices. These active materials have attracted extensive research and industrial interest due to their ability to realize fast and programmable shape changes through remote and untethered control under the application of magnetic fields. They would have many high-impact potential applications in soft robotics/devices, metamaterials, and biomedical devices. With a broad range of functional magnetic fillers, polymeric matrices, and advanced fabrication techniques, the material properties can be programmed for integrated functions, including programmable shape morphing, dynamic shape deformation-based locomotion, object manipulation and assembly, remote heat generation, as well as reconfigurable electronics. In this review, an overview of state-of-the-art developments and future perspectives in the multifunctional magnetically responsive soft materials is presented.