EFRI C3 SoRo: Programming Thermobiochemomechanical (TBCM) Multiplex Robot Gels

EFRI C3 SoRo：热生化机械 (TBCM) 多重机器人凝胶编程

基本信息

批准号：
1830893
负责人：
David Gracias
金额：
$ 200万
依托单位：
Johns Hopkins University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2018
资助国家：
美国
起止时间：
2018-09-15 至 2023-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1830893&HistoricalAwards=false
关键词：
EFRI C3 SoRo Programming Thermobiochemomechanical

项目摘要

This project aims to integrate sensing, computation, and actuation directly into the body structure of a micrometer- to millimeter-scale soft robot, by creating a new class of soft hydrogels that can be thermally and biochemically programmed. This integration is critical for constructing autonomous robots that can function in complex, real-world environments. This project seeks to develop a comprehensive framework for the design, programming, validation, and fabrication of these gel robots. The robots will respond to temperature and biochemical cues from the environment, make decisions, and execute multistep motion programs that will allow them to move in a desired direction. The project will address fundamental scientific and engineering challenges in hydrogel mechanics, biochemical sensing, path planning, and controls for continuum soft robots, making it possible to efficiently design and manufacture the hardware for gel robots and to program them with biochemical software. These robots will have potential applications in marine, biological and medical environments, including in vivo targeting and diagnostics in medical settings. The project will also provide research opportunities to undergraduate and K-12 students, including those from underrepresented groups, via new and established outreach programs at Johns Hopkins University. The goal of this project is to develop a framework for building a broad class of submillimeter-scale thermobiochemomechanical (TBCM) C3 robots in the form of architected hydrogels in which systems of chemical sensors, actuators, and computing devices replace the electronic sensors, actuators, and controllers in traditional robots. The research objectives of the project are to develop thermal and DNA responsive hydrogels and utilize these materials with advanced patterning and printing techniques to assemble robots that can respond to TBCM cues which are of relevance to human environmental and physiological conditions. Hardware design will be guided by a biomolecular software framework, mechanics based computational and reduced-order control models to enable planning and sensory feedback control. The broader impacts of this work include K-12 outreach programs to foster participation in STEM, dissemination of the research in peer-reviewed journals, dissemination of code and data and the development of new educational materials for undergraduate and graduate instruction.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目旨在通过创建一个可以热和生物化学编程的新型软水凝胶来将感应，计算和驱动直接集成到微米至毫米尺寸软机器人的身体结构中。这种集成对于构建可以在复杂的现实世界环境中起作用的自主机器人至关重要。该项目旨在为这些凝胶机器人的设计，编程，验证和制造开发一个综合框架。这些机器人将从环境中响应温度和生化线索，做出决策，并执行多步运动程序，使他们能够朝着期望的方向移动。该项目将针对水凝胶力学，生化感测，路径计划以及连续软机器人的控制方面的基本科学和工程挑战，从而有可能有效地设计和制造凝胶机器人的硬件，并使用生化软件对其进行编程。这些机器人将在海洋，生物和医疗环境中具有潜在的应用，包括在医疗环境中的体内靶向和诊断。该项目还将通过约翰·霍普金斯大学（Johns Hopkins University）的新的和已建立的外展计划为本科和K-12学生（包括来自代表性不足的团体的学生）提供研究机会。该项目的目的是开发一个框架，以建造一类构建水凝胶的形式，以化学传感器和计算设备的系统替换了传统机器中的电子，执行器和控制器的化学传感器，执行器和计算设备的系统，以架构水凝胶的形式建立一类巨大的尺度尺度热电学（TBCM）C3机器人。该项目的研究目标是开发热和DNA响应水凝胶，并利用这些材料采用先进的图案和印刷技术来组装可以响应与人类环境和生理条件相关的TBCM提示的机器人。硬件设计将以生物分子软件框架，基于力学的计算和降低订单控制模型为指导，以实现计划和感觉反馈控制。这项工作的更广泛的影响包括K-12外展计划，以促进STEM参与，在同行评审期刊中进行研究，代码和数据的传播以及开发新的教育材料，用于本科和研究生指导。该奖项反映了NSF的法定任务，并通过评估基金会的范围来反映出支持者的支持者，并经过了范围的影响。