Unger, Gabriel
Email Address
ORCID
Disciplines
Search Results
Now showing 1 - 7 of 7
Publication MORF: Magnetic Origami Reprogramming and Folding System for Repeatably Reconfigurable Structures with Fold Angle Control(IEEE, 2025-05-19) Unger, Gabriel; Shenoy, Sridhar; Li, Tianyu; Figueroa, Nadia; Sung, CynthiaWe present the Magnetic Origami Reprogramming and Folding System (MORF), a magnetically reprogrammable system capable of precise shape control, repeated transformations, and adaptive functionality for robotic applications. Unlike current self-folding systems, which often lack reprogrammability or lose rigidity after folding, MORF generates stiff structures over multiple folding cycles without degradation in performance. The ability to reconfigure and maintain structural stability is crucial for tasks such as reconfigurable tooling. The system utilizes a thermoplastic layer sandwiched within a thin magnetically responsive laminate sheet, enabling structures to self-fold in response to a combination of external magnetic field and heating. We demonstrate that the resulting folded structures can bear loads over 40 times their own weight and can undergo up to 50 cycles of repeated transformations without losing structural integrity. We showcase these strengths in a reconfigurable tool for unscrewing and screwing bolts and screws of various sizes, allowing the tool to adapt its shape to different bolt sizes while withstanding the mechanical stresses involved. This capability highlights the system’s potential for task-varying, load-bearing applications in robotics, where both versatility and durability are essential.Publication Re-programmable Matter by Folding: Magnetically Controlled Origami that Self-Folds, Self-Unfolds, and Self-Reconfigures On-Demand(Springer, 2024-07-24) Unger, Gabriel; Sung, CynthiaWe present a reprogrammable matter system that changes shape in a controllable manner in real-time and on-demand. The system uses origami inspired fabrication for self-assembly and repeated self-reconfiguration. By writing a magnetic program onto a thin laminate and applying an external magnetic field, we control the sheet to self-fold. The magnetic program can be written at millimeter resolution over hundreds of programming cycles and folding steps. We demonstrate how the same sheet can fold and unfold into multiple shapes using a fully automated program-and-fold process. Finally, we demonstrate how electronic components can be incorporated to produce functional structures such as a foldable display. The system has advantages over existing programmable matter systems in its versatility and ability to support potentially any folding sequence.Publication Electrical Characterization of Solar Cell using Arduino and Polarization Film(Singh Center for Nanotechnology, 2022-08-24) Lancaster, Mark; Jhamb, Ahana; Song, Xilai; Unger, Gabriel; Youderian, Marissa; Kim, Gyuseok L.A solar cell laboratory course for high school and college undergraduate students is proposed. The electrical characterization of the solar cell is performed to confirm the functionality of the device as both a diode and a power source. The efficiency of the solar cell in the illuminated condition is found to be 13.1 %. We find the efficiency of the solar cell slightly decreases as the intensity of light decreases. However, there is no significant difference in efficiency except for in the opaque condition. A calibrated solar cell, multimeter, current sensor, Arduino, coding and polarization are used to perform the experiment.Publication Exploring Hydrophobic and Lipophilic Properties of Magic Sand: Implications for Oil Spill Cleanup(Singh Center for Nanotechnology) Unger, Gabriel; Song, Ethan; Kim, GyuseokIn this study, we investigate the hydrophobic and lipophilic properties of magic sand by examining the behavior of water and oil droplets on magic sand surfaces. The contact angle between water and magic sand exceeds 120 degrees, indicating hydrophobic behavior, while the contact angle between oil and magic sand is significantly less than 90 degrees, suggesting lipophilic characteristics. To establish a comparative analysis, we performed similar tests using regular sand, demonstrating hydrophilic and lipophilic properties with contact angles against water and oil of less than 90 degrees. Leveraging these divergent properties, we conducted a simulated oil spill cleanup employing magic sand, resulting in a notable reduction of oil levels in water as the magic sand readily absorbed and sank with the oil.Publication MEMS Device Demonstration for High School Students or Nonspecialists(2021-10-28) Kim, Gyuseok L.; Meng, Jeffrey; Unger, GabrielMicro-electromechanical systems (MEMS) devices have many unique advantages, and offer an exciting entrance for students into the field of nanotechnology and nanofabrication. In this article, an educational hands-on laboratory protocol with MEMS devices is proposed. Using a paper airplane, an Arduino, and the MPU 6050 MEMS accelerometer/gyroscope sensor students are able to create a graphical aircraft attitude indicator. The data is then processed on the Arduino, which is connected to a computer. The computer can then run graphics software displaying a digital aircraft attitude indicator showing the roll and pitch of the aircraft live.Publication Liebau Pumping Enables Valveless Soft Swimmer Robot(Springer, 2025-07-06) Unger, Gabriel; Patel, Saheli; Raney, Jordan; Kozyak, Benjamin; Sung, CynthiaLiebau pumping produces net directional flow via periodic compression of a compliant tube at an asymmetric location, eliminating the need for valves or check flaps. While attractive for its simplicity, this mechanism has rarely been explored for robotic propulsion. Here, we present the first free-swimming robot actuated solely by Liebau pumping. A soft silicone conduit is cyclically compressed off-center by a single solenoid actuator, generating traveling pressure waves that produce thrust. Directional control is achieved through simple frequency switching, enabling both forward and reverse swimming. Experimental results reveal distinct frequency bands that correspond to the forward and reverse swimming modes, with peak velocities of 5.25 cm/s forward at 11 Hz and –1.58 cm/s in reverse at 15 Hz using a 30% duty cycle and 1 A peak current. Agility tests confirm smooth, responsive transitions between directions without mechanical valves or moving parts. These results establish Liebau pumping as a viable, low-complexity propulsion method for soft and ecologically safe underwater robots.Publication Liebau-Inspired Soft Swimmer Robot(2025-10-01) Smith, Kayleen; Sung, Cynthia; Unger, GabrielThe Liebau mechanism, inspired by embryonic heart function, generates net directional flow through periodic, asymmetric compression of a compliant tube - without the need for valves. This work presents the first free-swimming robot powered solely by Liebau pumping, using an off-center solenoid to create traveling pressure waves that produce bidirectional thrust. The goals of this paper are to map propulsion behavior across key actuation parameters to understand thrust direction and magnitude, optimize tube mechanics to enhance momentum transfer and design efficient, and design, fabricate, and test a concentrically actuating Liebau Pump