Biomedical engineering is the application of engineering principles and techniques to the medical field. It combines the design and problem solving skills of engineering with medical and biological sciences to improve healthcare diagnosis and treatment. As the result of improvements in robotics and micro technology science in the 20th century, micro electromechanical system technology has joined with medical applications which results in micro robotic medical applications. Drug delivery is one of the most important and controversial topics which scientists and engineers have tried to improve in medical applications. For diseases like cancer, localized drug delivery is a highlight target involving bombarding a small area of a human’s body and this technology has not been completely achieved yet. The ultimate objective of this thesis is the development of wireless capsule robot controlled by a magnetic drive unit. A magnetic drive unit is a system that consists of electromagnets, which produce the magnetic field from outside of the patient’s body. The capsule robot, which is the slave robot in the system, moves inside a human’s gastrointestinal tract. This project is focused mainly on a human esophagus and all the experiments are done in a prototype of the human’s esophagus. Drug delivery for diseases like cancer is the objective of the capsule robot. The proposed design consists of a slave permanent magnet for the motion of capsule robot in a tube, a reservoir of drug, and a micro mechanical mechanism for drug release. The capsule robot is fabricated and developed in a 12mm length and 5mm diameter with the weight of 1.78 grams without the built-in permanent magnet. The drug delivery system is a semi-magnetized system, which can be controlled by an external magnetic field. It consists of a mechanical plunger and spring, which can be open and close through an external magnetic field manipulation. The amount of drug for a desired location can be controlled by manipulating the external magnetic field. To achieve this target, analytical modeling is conducted. A numerical simulation and an experimental setup demonstrate that a capsule robot in a human esophagus in a simple and multi channel system. Horizontal control is set for the capsule robot, using a custom-designed controller and a colored liquid is released with the external magnetic field. The present study with its fabricated prototype is a research is this area to prove the concept of wireless control of a robot inside a human body and the potential for a drug delivery system. It is expected that the results achieved in this project will help realize and promote capsule robot for medical treatments.

Biomedical engineering is the application of engineering principles and techniques to the medical field. It combines the design and problem solving skills of engineering with medical and biological sciences to improve healthcare diagnosis and treatment. As the result of improvements in robotics and micro technology science in the 20th century, micro electromechanical system technology has joined with medical applications which results in micro robotic medical applications. Drug delivery is one of the most important and controversial topics which scientists and engineers have tried to improve in medical applications. For diseases like cancer, localized drug delivery is a highlight target involving bombarding a small area of a human’s body and this technology has not been completely achieved yet. The ultimate objective of this thesis is the development of wireless capsule robot controlled by a magnetic drive unit. A magnetic drive unit is a system that consists of electromagnets, which produce the magnetic field from outside of the patient’s body. The capsule robot, which is the slave robot in the system, moves inside a human’s gastrointestinal tract. This project is focused mainly on a human esophagus and all the experiments are done in a prototype of the human’s esophagus. Drug delivery for diseases like cancer is the objective of the capsule robot. The proposed design consists of a slave permanent magnet for the motion of capsule robot in a tube, a reservoir of drug, and a micro mechanical mechanism for drug release. The capsule robot is fabricated and developed in a 12mm length and 5mm diameter with the weight of 1.78 grams without the built-in permanent magnet. The drug delivery system is a semi-magnetized system, which can be controlled by an external magnetic field. It consists of a mechanical plunger and spring, which can be open and close through an external magnetic field manipulation. The amount of drug for a desired location can be controlled by manipulating the external magnetic field. To achieve this target, analytical modeling is conducted. A numerical simulation and an experimental setup demonstrate that a capsule robot in a human esophagus in a simple and multi channel system. Horizontal control is set for the capsule robot, using a custom-designed controller and a colored liquid is released with the external magnetic field. The present study with its fabricated prototype is a research is this area to prove the concept of wireless control of a robot inside a human body and the potential for a drug delivery system. It is expected that the results achieved in this project will help realize and promote capsule robot for medical treatments.

The problem of magnetic control for three-axis stability of a spacecraft is examined. Two controllers, a proportional-derivative controller and a constant coefficient linear quadratic regulator, are applied to the system of equations describing the motion of the spacecraft. The stability of each is checked for different spacecraft configurations through simulations, and the results for gravity-gradient stable and non gravity-gradient stable spacecraft are compared. An optimization technique is implemented in an attempt to obtain the best performance from the controller. For every spacecraft configuration, a set of gains can be chosen for implementation in the controller that stabilizes the linear and nonlinear equations of motion for the spacecraft. / Master of Science

The design of an attitude control system for a flexible spacecraft using magnetic actuation is considered. The nonlinear, linear, and modal equations of motion are developed for a general flexible body. Magnetic control is shown to be instantaneously underactuated, and is only controllable in the time-varying sense. A PD-like control scheme is proposed to address the attitude control problem for the linear system. Control gain limitations are shown to exist for the purely magnetic control. A hybrid control scheme is also proposed that relaxes these restrictions by adding a minimum control effort from an alternate three-axis actuation system. Floquet and passivity theory are used to obtain gain selection criteria that ensure a stable closed-loop system, which would aid in the design of a hybrid controller for a flexible spacecraft. The ability of the linearized system to predict the stability of the corresponding nonlinear system is also investigated.

The design of an attitude control system for a flexible spacecraft using magnetic actuation is considered. The nonlinear, linear, and modal equations of motion are developed for a general flexible body. Magnetic control is shown to be instantaneously underactuated, and is only controllable in the time-varying sense. A PD-like control scheme is proposed to address the attitude control problem for the linear system. Control gain limitations are shown to exist for the purely magnetic control. A hybrid control scheme is also proposed that relaxes these restrictions by adding a minimum control effort from an alternate three-axis actuation system. Floquet and passivity theory are used to obtain gain selection criteria that ensure a stable closed-loop system, which would aid in the design of a hybrid controller for a flexible spacecraft. The ability of the linearized system to predict the stability of the corresponding nonlinear system is also investigated.

Atualmente, aplicações de nanopartículas de magnetita (NPs-Fe3O4) têm sido comumente reportadas em inúmeros trabalhos descritos na literatura. Catálise, ferrofluidos e dispositivos de armazenamento de dados são algumas delas. Além disso, aplicações biomédicas têm sido demonstradas. Para esse último, têm-se os exemplos de magneto-hipertermia, liberação controlada de fármacos, agente de contraste em imagens de ressonância magnética e o controle de reações bioeletrocatalíticas envolvendo enzimas redox. Nesta tese, NPs-Fe3O4 foram aplicadas em duas vertentes inéditas. Dessa forma, tendo em vista uma melhor compreensão, a sua escrita foi dividida em dois capítulos, nos quais abordam separadamente cada uma dessas vertentes. O primeiro capítulo descreve a obtenção, modificação e funcionalização de NPs-Fe3O4 a afim de usá-las como uma plataforma para a imobilização do citocromo c (Cyt c); uma proteína redox de comportamento modelo dotada de um grupo prostético heme em sua estrutura terciária. Em seguida, após um efetivo processo de imobilização do Cyt c sobre as NPs-Fe3O4 com superfície modificada, o uso de um campo magnético externo possibilitou a deposição do mesmo na interface eletródica, estabelecendo a reação de transferência direta de elétrons entre o grupo heme e a superfície metálica do eletrodo de trabalho. Além disso, por meio da permuta entre os estados comutáveis switch on e switch off, obteve-se o controle magnético comutável da reação de transferência direta de elétrons do Cyt c quando imobilizado na superfície das NPs-Fe3O4 com superfície modificada. Já para o segundo capítulo, NPs-Fe3O4 foram utilizadas como adesivo magnético a fim de capturar nanoestruturas metálicas hollow (nanocages bimetálicos de Au/Ag) dispersas em suspensão aquosa. Dessa forma, por meio da influência de um campo magnético constante, os aglomerados formados entre esses dois nanomateriais foram depositados sobre uma máscara litográfica, levando a formação de padrões de litografia magnética dispostos sobre a superfície de um substrato de ITO (vidro recoberto com óxido de estanho dopado com índio). Imagens de microscopia eletrônica de varredura (MEV) comprovaram que a metodologia utilizada para o preparo dos padrões litográficos foi eficaz, apresentando um alto rendimento na obtenção dos mesmos. Além disso, realizou-se com sucesso o mapeamento químico de infravermelho dos padrões litográficos dispostos sobre o ITO. Para isso, empregou-se como alvo os modos vibracionais do polímero polivinilpirrolidona (PVP) utilizado na funcionalização dos nanocages bimetálicos de Au/Ag. Por fim, acredita-se que os padrões litográficos arranjados em macroescala, juntamente com os aglomerados de nanocages bimetálicos alinhados na forma de microfios, possuem potencial aplicação em estudos de espectroscopia de absorção no infravermelho intensificado por superfície (SEIRA). / Currently, applications of magnetite nanoparticles (Fe3O4-NPs) have been commonly reported in many studies in the literature. Catalysis, ferrofluids and data storage devices are some of them. Moreover, biomedical applications have been demonstrated. For the latter, there are the following examples, such as magneto-hyperthermia, controlled release of drugs and the control of bioelectrocatalysis of the enzymatic reactions. In this thesis, Fe3O4-NPs were used in two new applications. Therefore, towards a better understanding its writing was divided into two chapters, which each one of them reports separately these two applications. The first chapter describes the synthesis, modification and functionalization of Fe3O4-NPs in order to use them as a platform for the immobilization of cytochrome c (Cyt c); model redox protein which possess a heme prosthetic group in its tertiary structure. Then, after an effective immobilization of Cyt c on surface-modified Fe3O4-NPs, the use of an external magnetic field permitted the deposition of this redox protein on the electrode interface, establishing the reaction of direct electron transfer between heme prosthetic group and the metallic surface of the working electrode. Furthermore, by the exchange between ON and OFF switch modes was obtained the magnetic control of the direct electron transfer of Cyt c when immobilized on the surface-modified Fe3O4-NPs. For the second chapter, Fe3O4-NPs were used as magnetic adhesive to capture hollow metallic nanostructures (Au-Ag bimetallic nanocages) dispersed in aqueous suspension. Thus, by use of a constant magnetic field, the agglomerates formed between these two nanomaterials were deposited on a lithographic mask, leading to formation of magnetolithograph patterns on the surface of ITO substrate (glass coated with oxide tin-doped indium). Scanning electron microscopy images (SEM) showed that the methodology used for the high-yield preparation of lithographicpatterns was effective. Furthermore, the FTIR chemical mapping of the lithographic patterns arranged on the ITO\'s surface was successfully performed. For this, the CH2 and C-N, C=O vibrational modes of the polyvinylpyrrolidone polymer (PVP) used for the functionalization of Au-Ag bimetallic nanocages were employed as target. Finally, we believed that magnetolithograph patterns arranged in microscale on the ITO surface, and also the clusters of the bimetallic nanocages aligned as micro-wires show potential application in surface-enhanced infrared absorption (SEIRA).

Atualmente, aplicações de nanopartículas de magnetita (NPs-Fe3O4) têm sido comumente reportadas em inúmeros trabalhos descritos na literatura. Catálise, ferrofluidos e dispositivos de armazenamento de dados são algumas delas. Além disso, aplicações biomédicas têm sido demonstradas. Para esse último, têm-se os exemplos de magneto-hipertermia, liberação controlada de fármacos, agente de contraste em imagens de ressonância magnética e o controle de reações bioeletrocatalíticas envolvendo enzimas redox. Nesta tese, NPs-Fe3O4 foram aplicadas em duas vertentes inéditas. Dessa forma, tendo em vista uma melhor compreensão, a sua escrita foi dividida em dois capítulos, nos quais abordam separadamente cada uma dessas vertentes. O primeiro capítulo descreve a obtenção, modificação e funcionalização de NPs-Fe3O4 a afim de usá-las como uma plataforma para a imobilização do citocromo c (Cyt c); uma proteína redox de comportamento modelo dotada de um grupo prostético heme em sua estrutura terciária. Em seguida, após um efetivo processo de imobilização do Cyt c sobre as NPs-Fe3O4 com superfície modificada, o uso de um campo magnético externo possibilitou a deposição do mesmo na interface eletródica, estabelecendo a reação de transferência direta de elétrons entre o grupo heme e a superfície metálica do eletrodo de trabalho. Além disso, por meio da permuta entre os estados comutáveis switch on e switch off, obteve-se o controle magnético comutável da reação de transferência direta de elétrons do Cyt c quando imobilizado na superfície das NPs-Fe3O4 com superfície modificada. Já para o segundo capítulo, NPs-Fe3O4 foram utilizadas como adesivo magnético a fim de capturar nanoestruturas metálicas hollow (nanocages bimetálicos de Au/Ag) dispersas em suspensão aquosa. Dessa forma, por meio da influência de um campo magnético constante, os aglomerados formados entre esses dois nanomateriais foram depositados sobre uma máscara litográfica, levando a formação de padrões de litografia magnética dispostos sobre a superfície de um substrato de ITO (vidro recoberto com óxido de estanho dopado com índio). Imagens de microscopia eletrônica de varredura (MEV) comprovaram que a metodologia utilizada para o preparo dos padrões litográficos foi eficaz, apresentando um alto rendimento na obtenção dos mesmos. Além disso, realizou-se com sucesso o mapeamento químico de infravermelho dos padrões litográficos dispostos sobre o ITO. Para isso, empregou-se como alvo os modos vibracionais do polímero polivinilpirrolidona (PVP) utilizado na funcionalização dos nanocages bimetálicos de Au/Ag. Por fim, acredita-se que os padrões litográficos arranjados em macroescala, juntamente com os aglomerados de nanocages bimetálicos alinhados na forma de microfios, possuem potencial aplicação em estudos de espectroscopia de absorção no infravermelho intensificado por superfície (SEIRA). / Currently, applications of magnetite nanoparticles (Fe3O4-NPs) have been commonly reported in many studies in the literature. Catalysis, ferrofluids and data storage devices are some of them. Moreover, biomedical applications have been demonstrated. For the latter, there are the following examples, such as magneto-hyperthermia, controlled release of drugs and the control of bioelectrocatalysis of the enzymatic reactions. In this thesis, Fe3O4-NPs were used in two new applications. Therefore, towards a better understanding its writing was divided into two chapters, which each one of them reports separately these two applications. The first chapter describes the synthesis, modification and functionalization of Fe3O4-NPs in order to use them as a platform for the immobilization of cytochrome c (Cyt c); model redox protein which possess a heme prosthetic group in its tertiary structure. Then, after an effective immobilization of Cyt c on surface-modified Fe3O4-NPs, the use of an external magnetic field permitted the deposition of this redox protein on the electrode interface, establishing the reaction of direct electron transfer between heme prosthetic group and the metallic surface of the working electrode. Furthermore, by the exchange between ON and OFF switch modes was obtained the magnetic control of the direct electron transfer of Cyt c when immobilized on the surface-modified Fe3O4-NPs. For the second chapter, Fe3O4-NPs were used as magnetic adhesive to capture hollow metallic nanostructures (Au-Ag bimetallic nanocages) dispersed in aqueous suspension. Thus, by use of a constant magnetic field, the agglomerates formed between these two nanomaterials were deposited on a lithographic mask, leading to formation of magnetolithograph patterns on the surface of ITO substrate (glass coated with oxide tin-doped indium). Scanning electron microscopy images (SEM) showed that the methodology used for the high-yield preparation of lithographicpatterns was effective. Furthermore, the FTIR chemical mapping of the lithographic patterns arranged on the ITO\'s surface was successfully performed. For this, the CH2 and C-N, C=O vibrational modes of the polyvinylpyrrolidone polymer (PVP) used for the functionalization of Au-Ag bimetallic nanocages were employed as target. Finally, we believed that magnetolithograph patterns arranged in microscale on the ITO surface, and also the clusters of the bimetallic nanocages aligned as micro-wires show potential application in surface-enhanced infrared absorption (SEIRA).