动态自组装移动微机器人群中的可编程集体行为
Programmable collective behavior in dynamically self-assembled mobile microrobotic swarms
摘要：
移动微型机器人群体的集体控制是必不可少的，因为它们在靶向药物输送、医疗诊断、并行微操作以及环境传感和修复方面具有潜在的高影响力。目前的微型机器人系统缺乏机载计算和传感能力，需要使用单个微型机器人之间的物理交互进行本地物理通信和合作。在这里，我们表明，移动microrobotic群定义明确的集体行为，可以通过设计工程磁相互作用的各个单位。微型机器人由自组装磁性微粒的线性链组成，响应于旋进磁场在表面上移动。控制旋进磁场的方向允许工程之间的吸引力和排斥力的相互作用microrobots，因此，集体秩序与明确的空间组织和平行操作的宏观尺度的距离（~1厘米）。这些微型机器人群可以被引导通过有限的空间，同时保持微型机器人的形态和功能。这些群可以进一步实现大型货物在表面上和小型货物在散装流体中的定向运输。所描述的设计方法，利用个体机器人之间的物理交互，使自组织和可重构的microrobotic群与可编程的集体秩序，方便和快速的形成。
英文摘要：
Collective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Lack of on-board computational and sensing capabilities in current microrobotic systems necessitates use of physical interactions among individual microrobots for local physical communication and cooperation. Here, we show that mobile microrobotic swarms with well-defined collective behavior can be designed by engineering magnetic interactions among individual units. Microrobots, consisting of a linear chain of self-assembled magnetic microparticles, locomote on surfaces in response to a precessing magnetic field. Control over the direction of precessing magnetic field allows engineering attractive and repulsive interactions among microrobots and, thus, collective order with well-defined spatial organization and parallel operation over macroscale distances (~1 cm). These microrobotic swarms can be guided through confined spaces, while preserving microrobot morphology and function. These swarms can further achieve directional transport of large cargoes on surfaces and small cargoes in bulk fluids. Described design approach, exploiting physical interactions among individual robots, enables facile and rapid formation of self-organized and reconfigurable microrobotic swarms with programmable collective order.
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