Abstract: An example apparatus includes a pointing structure, a magnetic-contrast bearing, and drive circuitry. The magnetic-contrast bearing is coupled to the pointing structure, and includes a magnetic array and a substrate that is arranged with the magnetic array. The drive circuitry generates a magnetic field that interacts with the magnetic array and causes control of a pointing position of the pointing structure.

Abstract: Systems are provided for the efficient generation of oscillating magnetic fields below the Low Frequency band. These systems generate such fields by mechanically rotating one or more diametrically-magnetized permanent magnets. In order to reduce friction, the magnets are rotated by applying a motive magnetic field to the magnet(s) to rotate the magnet(s) and thereby generate the oscillating magnetic field. Additionally, diamagnetic repulsion, active magnetic field control, and/or biasing permanent magnets are employed to levitate the rotating magnet(s), further reducing friction and increasing system efficiency. These systems may be employed to generate modulated low-frequency oscillating magnetic fields for communication through seawater, rocks, or other obstacles. Additionally or alternatively, these systems may be employed to generate low-frequency oscillating magnetic fields for navigation and location sensing, resource identification and extraction, or other applications.

Abstract: A microrobot assembly system includes a substrate containing conductive traces formed into at least one holding zone and one moving zone, a diamagnetic layer on the substrate, at least two magnetic structures movable across the diamagnetic layer in response to voltages applied to the conductive traces, wherein the holding zone holds one of the magnetic structures and the moving zone allows another of the magnetic structures to attach to the magnetic structure being held. The system may include a plate spaced above the substrate and rails to guide the moving magnetic structures.

Abstract: An example apparatus includes a pointing structure, a magnetic-contrast bearing, and drive circuitry. The magnetic-contrast bearing is coupled to the pointing structure, and includes a magnetic array and a substrate that is arranged with the magnetic array. The drive circuitry generates a magnetic field that interacts with the magnetic array and causes control of a pointing position of the pointing structure.

Abstract: Systems are provided for the efficient generation of oscillating magnetic fields below the Low Frequency band. These systems generate such fields by mechanically rotating one or more diametrically-magnetized permanent magnets. In order to reduce friction, the magnets are rotated by applying a motive magnetic field to the magnet(s) to rotate the magnet(s) and thereby generate the oscillating magnetic field. Additionally, diamagnetic repulsion, active magnetic field control, and/or biasing permanent magnets are employed to levitate the rotating magnet(s), further reducing friction and increasing system efficiency. These systems may be employed to generate modulated low-frequency oscillating magnetic fields for communication through seawater, rocks, or other obstacles. Additionally or alternatively, these systems may be employed to generate low-frequency oscillating magnetic fields for navigation and location sensing, resource identification and extraction, or other applications.

Abstract: A system including a first circuit substrate having conductive traces in layers of the first substrate, the first substrate having a first diamagnetic layer, a second circuit substrate having conductive traces in layers of the second substrate, the second substrate having a second diamagnetic layer, at least one manipulator residing adjacent one of the first and second diamagnetic layers, the manipulator being moveable across the first and second diamagnetic layers through magnetic fields generated by selected application of current to the conductive traces, and a controller coupled to the traces arranged to produce signals which result in the current being applied to the conductive traces.

Abstract: A microrobot assembly system includes a substrate containing conductive traces formed into at least one holding zone and one moving zone, a diamagnetic layer on the substrate, at least two magnetic structures movable across the diamagnetic layer in response to voltages applied to the conductive traces, wherein the holding zone holds one of the magnetic structures and the moving zone allows another of the magnetic structures to attach to the magnetic structure being held. The system may include a plate spaced above the substrate and rails to guide the moving magnetic structures.

Abstract: A system has a first operation substrate, the operation substrate having at least one sliding surface and at least one conductive trace in a layer in the substrate, at least one flex circuit magnetically coupled to the operation substrate, the flex circuit having at least one sliding surface and at least one conductive trace in the substrate, and at least one manipulator moveable across the sliding surfaces of the operation substrate and the flex circuit by magnetic fields generated by application of current to the conductive traces.

Abstract: An electroadhesive device includes an outer surface adapted to interface with a surface of a foreign substrate, a plurality of electrodes, and a semi-conductive insulation material disposed adjacent to at least one of the electrodes. Each electrode has a respective conductive volume and is configured to apply a voltage at a respective location of the outer surface, and the difference in voltage between applied voltages includes an electrostatic adhesion voltage that produces an electrostatic force between the device and the substrate that is suitable to maintain a current position of the device relative to the substrate. The insulation material can be polyurethane or any other suitable material having a resistance of about 109 to 1012 ohms*m. The insulation material effectively operates to expand the conductive volume of the electrodes when they are actuated.

Abstract: An apparatus includes a robotic positioning device and a locating mat. The locating mat includes a location pattern and can be disposed on a floor at a desired position relative to a movable cradle of an imaging system. The robotic positioning device is configured to be disposed, at least partially, above the locating mat. The robotic positioning device includes a docking device that includes an optical device and a guide manipulator supported on the docking device. The guide manipulator can be positioned relative to the movable cradle based, at least partially, on image data associated with the optical device and the location pattern of the locating mat. The guide manipulator can position an instrument guide relative to a patient disposed on the movable cradle.

Abstract: A method of building structures using diamagnetically levitated manipulators includes depositing, with a first end effector attached to a first manipulator, a first adhesive at a first location on a first surface, picking up, with a second end effector, an article, moving the article to the surface, and placing the article on the adhesive on the surface.

Abstract: A system including a first circuit substrate having conductive traces in layers of the first substrate, the first substrate having a first diamagnetic layer, a second circuit substrate having conductive traces in layers of the second substrate, the second substrate having a second diamagnetic layer, at least one manipulator residing adjacent one of the first and second diamagnetic layers, the manipulator being moveable across the first and second diamagnetic layers through magnetic fields generated by selected application of current to the conductive traces, and a controller coupled to the traces arranged to produce signals which result in the current being applied to the conductive traces.

Abstract: An apparatus includes a robotic positioning device and a locating mat. The locating mat includes a location pattern and can be disposed on a floor at a desired position relative to a movable cradle of an imaging system. The robotic positioning device is configured to be disposed, at least partially, above the locating mat. The robotic positioning device includes a docking device that includes an optical device and a guide manipulator supported on the docking device. The guide manipulator can be positioned relative to the movable cradle based, at least partially, on image data associated with the optical device and the location pattern of the locating mat. The guide manipulator can position an instrument guide relative to a patient disposed on the movable cradle.

Abstract: A system has a first operation substrate, the operation substrate having at least one sliding surface and at least one conductive trace in a layer in the substrate, at least one flex circuit magnetically coupled to the operation substrate, the flex circuit having at least one sliding surface and at least one conductive trace in the substrate, and at least one manipulator moveable across the sliding surfaces of the operation substrate and the flex circuit by magnetic fields generated by application of current to the conductive traces.

Abstract: A method of propelling a magnetic manipulator above a circuit substrate includes arranging a magnetic manipulator on a diamagnetic layer on a surface of the circuit substrate, generating drive signals using a controller, and applying the drive signals to at least two conductive traces arranged in the circuit substrate below the diamagnetic layer. A circuit substrate to control movement of a magnetic manipulator has a diamagnetic layer on a surface of the substrate, and conductive traces arranged under the diamagnetic layer, the conductive traces arranged in a parallel line pattern in at least two separate layers.

Abstract: A “sticky boom” system facilitates physical control of foreign objects, such as those in a zero-gravity environment. The electroadhesive system includes an electrostatic adhesion pad that electrostatically and detachably adheres to a separate foreign object, as well as a boom coupled to the pad. The pad includes electrode(s) adapted to produce an electrostatic force between the pad and the object that maintains the position of the pad relative to the object. The boom provides control for positioning the pad relative to the object and also for movement of the pad and object combination when they are electrostatically adhered together. A sensing component detects when the pad is adhered to the foreign object, and a control mechanism coupled to the boom allows for control of the pad and object at a remote distance. Multiple foreign objects can be adhered simultaneously. Control can include location and/or rotational movement or deceleration of objects.

Abstract: A system has a circuit substrate having conductive traces in a first layer of the substrate, the traces arranged in independent zones, a diamagnetic layer residing on a surface of the circuit substrate, at least two manipulators residing adjacent the magnetic layer, the manipulators being moveable within the zones, the manipulators being magnetic and controllable through magnetic fields, and a controller electrically coupled to the traces arranged to produce signals to generate magnetic fields.

Abstract: A method of building structures using diamagnetically levitated manipulators includes depositing, with a first end effector attached to a first manipulator, a first adhesive at a first location on a first surface, picking up, with a second end effector, an article, moving the article to the surface, and placing the article on the adhesive on the surface.

Abstract: An electroadhesive device includes an outer surface adapted to interface with a surface of a foreign substrate, a plurality of electrodes (18), and a semi-conductive insulation material (20) disposed adjacent to at least one of the electrodes (18). Each electrode (18) has a respective conductive volume and is configured to apply a voltage at a respective location of the outer surface, and the difference in voltage between applied voltages includes an electrostatic adhesion voltage that produces an electro-static force between the device and the substrate (16) that is suitable to maintain a current position of the device relative to the substrate (16). The insulation material (20) can be polyurethane or any other suitable material having a resistance of about 109 to 1012 ohms*m. The insulation material effectively operates to expand the conductive volume of the electrodes (18) when they are actuated.

Abstract: A method of propelling a magnetic manipulator above a circuit substrate includes arranging a magnetic manipulator on a diamagnetic layer on a surface of the circuit substrate, generating drive signals using a controller, and applying the drive signals to at least two conductive traces arranged in the circuit substrate below the diamagnetic layer. A circuit substrate to control movement of a magnetic manipulator has a diamagnetic layer on a surface of the substrate, and conductive traces arranged under the diamagnetic layer, the conductive traces arranged in a parallel line pattern in at least two separate layers.