In this study, a dielectrophoresis field-flow fractionation device was analyzed using a numerical simulation method and the behaviors of a set of different cells were investigated. By reducing the alternating current frequency of the electrodes from the value used in the original setup configuration and increasing the number of exit channels, total discrimination in cell trajectories and subsequent separation of four cell types were achieved. Cells were differentiated based on their size and dielectric response that are represented in their real part of Clausius-Mossotti factor at different frequencies. A number of novel designs were also proposed based on the original setup configuration. It was seen that by reducing the length of the main channel and the number of electrodes at low frequencies and not changing the inlet flow velocities, cell separation was still achieved successfully, although with a slightly larger electrode voltage. The shorter main channel decreased the residence time for the cells on the chip and also reduced the overall size of the device-these were improvements over the original design. The obtained results can be used to analyze other cell types by knowing their size and dielectric properties to design geometries that can ensure separation.
Microrobots design and manufacturing has been one of interesting fields in robotics in recent years. Various legged designs have been proposed in the literature. All designs rely on friction for locomotion. In this paper the dynamic model of a planar two-legged microrobot is presented using LuGre friction model. LuGre friction model is more realistic model, reducing uncertainties of the microrobot dynamic model, providing a better prediction for both design and control applications. The proposed microrobot is driven by a piezoelectric actuator mounted between centers of two legs. One of important issues in modeling of microrobots is to determine the friction force between robot and environment. The LuGre friction model which is a more realistic and comprehensive model for friction is used to determine the friction force between legs and horizontal surface. The results of the LuGre friction based model are compared with those of the model which uses the Coulomb friction. This comparison shows effectiveness of using the LuGre friction model in predicting the dynamic behavior in these types of robots.
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