Microrobotics Simulation Framework

Scaffolding — site under active construction

This site is documentation scaffolding: structure is in place but most pages will be filled in over the coming weeks. Expect gaps, placeholder sections, and the occasional broken cross-reference. The source for every page lives in the project repos linked below — contributions welcome.

Closed-loop control of a magnetically actuated microrobot tracked by a robot-arm-mounted dipole field source. ⛶ Fullscreen

MIME replication of the de Jongh et al. (2024) helical-UMR propulsion experiment, end-to-end inside the framework. ⛶ Fullscreen

An end-to-end, autodifferentiable simulation framework for magnetically actuated microrobots in confined biological flows — from acausal node graphs and low-Reynolds hydrodynamics, through closed-loop control, to a regulated IDE.

The framework is three layered projects:

MADDENING

The base framework. A pure-JAX, autodifferentiable acausal-dataflow runtime where physical models are composed from typed nodes and unit-aware edges.

Repo on GitHub

../maddening/

MIME

The physics. A library of MADDENING nodes for rigid-body chains, magnetic response, low-Reynolds hydrodynamics (Stokeslet / IBM-FVM with optional GNN correction), and the actuation chain.

Repo on GitHub

../mime/

MICROROBOTICA

The IDE. A Qt application that loads MIME experiments, drives live parameter edits, scrubs USD recordings, and produces the IEC-62304 audit trail for clinical-grade adoption.

Repo on GitHub

User Guide

Documentation map

The framework’s documentation is split across the three projects’ own docs trees, which all share this site’s theme. Use the navbar to jump between them.