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MIME · MIcrorobotics Multiphysics Engine. Source on GitHub → · Docs are scaffolding — pages will fill in over the coming weeks.

MSF

  • GPU precision and TF32
  • Installation
  • Quickstart
    • Experiment recordings — geometry budget
    • Preempt / resume for experiments
    • Glossary
    • Release notes
    • Defect Correction Method for Confined Microrobot Drag
    • [Node Name]
    • CSF Flow Node
    • External Magnetic Field Node
    • Flexible Body Node
    • FVM Fluid Node (with Diffuse-Penalty IBM)
    • IB-LBM Fluid Node
    • Magnetic Response Node
    • Motor Node
    • Permanent Magnet Node
    • Permanent Magnet Response Node
    • Phase Tracking Node
    • Rigid Body Node
    • RobotArmNode
    • Stokeslet Fluid Node
    • Surface Contact Node
    • Compile-time edge validation
    • EffectModel contract
    • IBLBMFluidNode — Onboarding Document
    • IBLBMFluidNode Specification
    • Node API migration: requires_halo → halo_width()
    • The static_data / StaticArray channel
    • v0.2 optional-feature adoption
    • Writing a custom MIME node
    • MIME Confined-Swimming Benchmark — Technical Summary
    • Context of Use (COU) Template — MIME
    • MIME SOUP Package Document
    • B0 Experimental Dataset: Rodenborn et al. (2013)
    • Bouzidi IBB Diagnostics Report
    • Couette Torque Benchmarks — Mass Conservation & TF32 Precision (RESOLVED)
    • EffectModel drag-swap — method differences & resolution behaviour
    • MIME-VER-100 — MotorNode Step Response (Torque Mode, No Load)
    • MIME-VER-110 — Permanent-Magnet Field vs Analytical
    • MIME-VER-111 — Permanent-Magnet Field Gradient (jax.jacrev) vs Analytical
    • MIME-VER-112 — Earth-Field Superposition Exactness
    • MIME-VER-120 — RobotArmNode Forward Kinematics
    • MIME-VER-121 — RobotArmNode Mass-Matrix Symmetry & PD
    • MIME-VER-122 — RobotArmNode Free-Fall Round-Trip
    • MIME-VER-123 — RobotArmNode Gravity-Compensated Static Hold
    • MIME-VER-124 — RobotArmNode Inverse-Dynamics + PD Trajectory Tracking
    • MIME-VER-130 — Actuation-Chain Field Equivalence (Far-Field Limit)
    • MIME-VER-131 — De Jongh Helical-Swim Reproduction with New Actuation Chain
    • MIME-VER-132 — Misalignment-Induced Field Tilt at the UMR
    • TF32 matmul-precision audit — float32 physics paths
    • de Boer et al. (2025) — Extracted Parameters for Tier 1 Replication
    • Fin Resolution Sensitivity Study
    • Pre-T2.6 Gate: Fin Resolution and Stability
    • Development History — Verification & Validation Evidence
    • Launching cloud jobs
    • Docker Image Update Plan
    • MIME — Intended Use and Regulatory Positioning
    • IEC 62304 Software Lifecycle Documentation Mapping — MIME
    • Downstream Integration — Dependency Chain and Responsibilities
    • JAX Pallas GPU Issues (for filing)
    • MADDENING
    • MIME
    • MICROROBOTICA
  • MIME on GitHub
  • All MSF repos
  • GPU precision and TF32
  • Installation
  • Quickstart
  • Experiment recordings — geometry budget
  • Preempt / resume for experiments
  • Glossary
  • Release notes
  • Defect Correction Method for Confined Microrobot Drag
  • [Node Name]
  • CSF Flow Node
  • External Magnetic Field Node
  • Flexible Body Node
  • FVM Fluid Node (with Diffuse-Penalty IBM)
  • IB-LBM Fluid Node
  • Magnetic Response Node
  • Motor Node
  • Permanent Magnet Node
  • Permanent Magnet Response Node
  • Phase Tracking Node
  • Rigid Body Node
  • RobotArmNode
  • Stokeslet Fluid Node
  • Surface Contact Node
  • Compile-time edge validation
  • EffectModel contract
  • IBLBMFluidNode — Onboarding Document
  • IBLBMFluidNode Specification
  • Node API migration: requires_halo → halo_width()
  • The static_data / StaticArray channel
  • v0.2 optional-feature adoption
  • Writing a custom MIME node
  • MIME Confined-Swimming Benchmark — Technical Summary
  • Context of Use (COU) Template — MIME
  • MIME SOUP Package Document
  • B0 Experimental Dataset: Rodenborn et al. (2013)
  • Bouzidi IBB Diagnostics Report
  • Couette Torque Benchmarks — Mass Conservation & TF32 Precision (RESOLVED)
  • EffectModel drag-swap — method differences & resolution behaviour
  • MIME-VER-100 — MotorNode Step Response (Torque Mode, No Load)
  • MIME-VER-110 — Permanent-Magnet Field vs Analytical
  • MIME-VER-111 — Permanent-Magnet Field Gradient (jax.jacrev) vs Analytical
  • MIME-VER-112 — Earth-Field Superposition Exactness
  • MIME-VER-120 — RobotArmNode Forward Kinematics
  • MIME-VER-121 — RobotArmNode Mass-Matrix Symmetry & PD
  • MIME-VER-122 — RobotArmNode Free-Fall Round-Trip
  • MIME-VER-123 — RobotArmNode Gravity-Compensated Static Hold
  • MIME-VER-124 — RobotArmNode Inverse-Dynamics + PD Trajectory Tracking
  • MIME-VER-130 — Actuation-Chain Field Equivalence (Far-Field Limit)
  • MIME-VER-131 — De Jongh Helical-Swim Reproduction with New Actuation Chain
  • MIME-VER-132 — Misalignment-Induced Field Tilt at the UMR
  • TF32 matmul-precision audit — float32 physics paths
  • de Boer et al. (2025) — Extracted Parameters for Tier 1 Replication
  • Fin Resolution Sensitivity Study
  • Pre-T2.6 Gate: Fin Resolution and Stability
  • Development History — Verification & Validation Evidence
  • Launching cloud jobs
  • Docker Image Update Plan
  • MIME — Intended Use and Regulatory Positioning
  • IEC 62304 Software Lifecycle Documentation Mapping — MIME
  • Downstream Integration — Dependency Chain and Responsibilities
  • JAX Pallas GPU Issues (for filing)
  • MADDENING
  • MIME
  • MICROROBOTICA
  • MIME on GitHub
  • All MSF repos

Index

A | B | C | D | E | F | G | H | I | J | L | M | N | O | P | Q | R | S | T | U | V | W | X | Z

A

  • Aitken acceleration
  • Anatomical regime
  • ASME V&V 40

B

  • Boundary inputs
  • Bouzidi scheme

C

  • CFL number
  • ComponentMeta
  • COU
  • Coupling
  • CRBA
  • CSF
  • Cycle staggering

D

  • DeepONet
  • Defect correction
  • Dipole response

E

  • Edge
  • EU MDR

F

  • FNO

G

  • Gauss-Seidel
  • GNN correction
  • Graph step
  • GraphManager

H

  • Helical UMR

I

  • IB-LBM
  • IBM-FVM
  • IEC 62304
  • IEC 62366-1
  • IQN-ILS
  • ISO 13485
  • ISO 14971

J

  • Jacobi
  • JAX
  • JAX-traceable
  • JIT compilation

L

  • LBM
  • Low-Re
  • Lubrication correction

M

  • MDCG 2019-11
  • MDCG 2019-16
  • MimeNode
  • MLP
  • Momentum exchange
  • Multi-rate

N

  • Node
  • NodeMeta
  • Notified Body

O

  • OpenUSD

P

  • PI controller
  • PISO
  • Pure function
  • pybind11

Q

  • Quasi-Newton

R

  • Reynolds number
  • RFT
  • Richardson extrapolation
  • RNEA
  • ROS

S

  • SaMD
  • SBOM
  • Schwarz coupling
  • SimulationNode
  • SkyPilot
  • SOUP
  • Step-out frequency
  • Stokeslet
  • Surrogate

T

  • Topological sort

U

  • UMR
  • USD layer

V

  • Verification benchmark
  • vmap

W

  • WebRTC
  • Womersley number

X

  • XLA

Z

  • ZMQ

© Copyright 2026, Nicholas Roy.

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