Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields
Why this work is in the frame
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Bibliographic record
Abstract
Wireless robots at the subcentimeter size are often actuated using externally generated magnetic fields. For most applications, these remote magnetic microrobots are located relatively far from the magnetic field generation sources. In this condition, all microrobots receive approximately the same driving magnetic field (which we term a homogeneous field). While some solutions have been presented to allow for the creation of simple onboard tools, the full potential of the homogeneous magnetic field for multi-degrees-of-freedom (DOF) actuation has not been exploited. Here we introduce a design framework to utilize the maximum number of independently controlled DOFs on a microrobot system. We make use of three classes of mechanisms which are commonly used in practice and allow for more complex microrobots with up to eight DOFs. To verify the functionality of our framework, we used it to design an optimized drug delivery robot equipped with a 3-DOF drug-releasing mechanism and a 4-DOF motion mechanism. Experiments are performed to actuate each one of the robot's seven DOFs individually, where the cross-talk error between these seven DOFs averaged 7% with a max error of 18.3%.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| 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) | 0.000 | 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 it