Magnetic Actuation for Full Dexterity Microrobotic Control Using Rotating Permanent Magnets
Bibliographic record
Abstract
Recent work in magnetically actuated microscale robots for biomedical or microfluidic applications has resulted in magnetic actuation systems that can remotely command precise five-degree-of-freedom control of magnetic devices. This paper presents a new type of actuation system, which uses an array of rotating permanent magnets to generate the same level of control over untethered microscale devices with the potential for increased field and gradient strength and minimal heat generation. In contrast with previous permanent-magnet actuation systems, the system proposed here does not require any hazardous translational motion of the control magnets, resulting in a simple, safe, and inexpensive system. The proof-of-concept prototype system presented, with eight permanent magnets, can create fields and field gradients in any direction with variable magnitudes between zero and 30 mT and 0.83 Tm-1, respectively. The effectiveness of the system is shown through characterization and feedback control of a 250-μm micromagnet in a 3-D path-following task with average accuracy of 25 μm. An optimization framework is presented for designing system configurations for targeted applications.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".