用于电子集成微型机器人的电动动力学推进
Electrokinetic Propulsion for Electronically Integrated Microscopic Robots
AI总结：
本文提出将自驱动颗粒升级为电子集成的微型机器人，利用电动微马达原理在流体中产生电场和推进流，其速度与施加电流成正比，并通过板载电路和闭环光学控制实现了航点导航与协调集群运动，为电子可编程微型机器人的长期可靠运行奠定了基础。
摘要：
半导体微电子技术正成为构建肉眼难以看见的智能自主微型机器人的强大工具。然而，许多现有的微型机器人平台尽管在速度、鲁棒性、功耗或制造简易性方面具有显著优势，却缺乏实现电子集成的明确路径，这限制了其与电子同类相比的智能性和复杂性。在此，我们展示了如何将自驱动颗粒升级为电子集成的微型机器人，在单一设计中兼得两者的优势。受电动微马达启发，这些机器人在周围流体中产生电场，进而产生推进性电动流。其底层物理特性可由一个模型描述，即机器人速度与施加电流成正比，使设计和控制变得简单直接。作为证明，我们构建了基础机器人，利用板载电路和闭环光学控制方案进行航点导航，并以高达每秒一个体长的速度进行协调集群运动。总体而言，微马达推进与机器人电子技术的统一，为制造鲁棒、快速、易于制造且可在数月至数年内可靠运行的电子可编程微型机器人扫清了道路。
英文摘要：
Semiconductor microelectronics are emerging as a powerful tool for building smart, autonomous robots too small to see with the naked eye. Yet a number of existing microrobot platforms, despite significant advantages in speed, robustness, power consumption, or ease of fabrication, have no clear path towards electronics integration, limiting their intelligence and sophistication when compared to electronic cousins. Here, we show how to upgrade a self-propelled particle into an an electronically integrated microrobot, reaping the best of both in a single design. Inspired by electrokinetic micromotors, these robots generate electric fields in a surrounding fluid, and by extension propulsive electrokinetic flows. The underlying physics is captured by a model in which robot speed is proportional to applied current, making design and control straightforward. As proof, we build basic robots that use on-board circuits and a closed-loop optical control scheme to navigate waypoints and move in coordinated swarms at speeds of up to one body length per second. Broadly, the unification of micromotor propulsion with on-robot electronics clears the way for robust, fast, easy to manufacture, electronically programmable microrobots that operate reliably over months to years.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
