Conference proceeding
Feedback Control of Many Magnetized Tetrahymena pyriformis Cells by Exploiting Phase Inhomogeneity
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp 3317-3323
01 Jan 2013
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Biological robots can be produced in large numbers, but are often controlled by uniform inputs. This makes position control of multiple robots inherently challenging.
This paper uses magnetically-steered ciliate eukaryon (Tetrahymena pyriformis) as a case study. These cells swim at a constant speed, and can be turned by changing the orientation of an external magnetic field. We show that it is possible to steer multiple T pyriformis to independent goals if their turning modeled as a first-order system has unique time constants. We provide system identification tools to parameterize multiple cells in parallel.
We construct feedback control-Lyapunov methods that exploit differing phase-lags under a rotating magnetic field to steer multiple cells to independent target positions. We prove that these techniques scale to any number of cells with unique first-order responses to the global magnetic field. We provide simulations steering hundreds of cells and validate our procedure in hardware experiments with multiple cells.
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Details
- Title
- Feedback Control of Many Magnetized Tetrahymena pyriformis Cells by Exploiting Phase Inhomogeneity
- Creators
- Aaron Becker - Rice UniversityYan Ou - Rensselaer Polytechnic InstitutePaul Kim - Drexel UniversityMin Jun Kim - Drexel UniversityAgung Julius - Rensselaer Polytech Inst, Dept Elect Comp & Syst Engn, Troy, NY 12180 USAAlec Becker - A.J. Drexel Autism Institute
- Contributors
- N Amato (Editor)
- Publication Details
- 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp 3317-3323
- Series
- IEEE International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Number of pages
- 7
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- A.J. Drexel Autism Institute; Mechanical Engineering and Mechanics
- Web of Science ID
- WOS:000331367403057
- Scopus ID
- 2-s2.0-84891863201
- Other Identifier
- 991019173448504721
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- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Computer Science, Artificial Intelligence
- Computer Science, Cybernetics
- Robotics