The milliDelta: A high-bandwidth, high-precision, millimeter-scale Delta robot

The Design of A High-Bandwidth Sigma-Delta Modulator

The design of a high-bandwidth Σ∆ modulator which achieves 10 bits of resolution with a conversion rate of 20 MS/s is presented. The oversampling ratio is 16, requiring a sampling frequency of 320 MHz. The modulator is implemented as a fourth-order 2-1-1 cascade using switched-capacitor integrators, which is amenable to simple implementations in a CMOS process. The component values are scaled t...

A Novel Metamaterial Microelectromechanical Systems Phase Shifter with High Phase Shift and High Bandwidth

In this paper, new topology of phase shifter is proposed that uses advantage of metamaterial and MEMS technology. The phase shifter is switched between two states of RH- and LH-TL having frequency passband unlike other proposed metamaterials which create the maximum phase shift from one unitcell. Analysis and design approach of the phase shifter is presented and the structure is simulated using...

Design for a Millimeter-Scale Walking Robot

Dose distributions of high-precision radiotherapy treatment: A comparison between the CyberKnife and TrueBeam systems

Background: Several high-precision stereotactic radiation therapy modalities are currently used in clinical settings. We aimed to evaluate whether the CyberKnife (CK) or TrueBeam (TB) radiation treatment systems were more appropriate for treating targets of various morphologies according to the physical properties of each device.  Materials and Methods: Spheres (diameter = 5–50 mm), as well as ...

Adaptive control of a millimeter-scale flapping-wing robot.

Challenges for the controlled flight of a robotic insect are due to the inherent instability of the system, complex fluid-structure interactions, and the general lack of a complete system model. In this paper, we propose theoretical models of the system based on the limited information available from previous work and a comprehensive flight controller. The modular flight controller is derived f...