Conference proceeding
Harnessing Bacterial Power in Microscale Actuation
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, p2847
IEEE International Conference on Robotics and Automation ICRA
01 Jan 2009
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
This paper presents a systematic analysis of the motion of microscale structures actuated by flagellated bacteria. We perform the study both experimentally and theoretically. We use a blotting procedure to attach flagellated bacteria to a buoyancy-neutral plate called a microbarge. The motion of the plate depends on the distribution of the cells on the plate and the stimuli from the environment.
We construct a stochastic mathematical model for the system, based on the assumption that the behavior of each bacterium is random and independent of that of its neighbors. The main finding of the paper is that the motion of the barge plus bacteria system is a function of a very small set of parameters. This reduced-dimensional model can be easily estimated using experimental data. We show that the simulation results obtained from the model show an excellent match with the experimentally-observed motion of the barge.
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Details
- Title
- Harnessing Bacterial Power in Microscale Actuation
- Creators
- A. Agung Julius - Supreme Council Of HealthM. Selman Sakar - Supreme Council Of HealthEdward Steager - Drexel UniversityU. Kei Cheang - Drexel Univ, Dept Mech Engn & Mech, Philadelphia, PA 19104 USAMinJun Kim - Drexel Univ, Dept Mech Engn & Mech, Philadelphia, PA 19104 USAVijay Kumar - Supreme Council Of HealthGeorge J. Pappas - Supreme Council Of HealthIEEE
- Publication Details
- ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, p2847
- Series
- IEEE International Conference on Robotics and Automation ICRA
- Publisher
- IEEE
- Number of pages
- 2
- Grant note
- W911NF-05-1-0219 / ARO CSR-CPS 0720801; CMMI-0745019 / NSF; National Science Foundation (NSF)
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019330622704721
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- Web of Science research areas
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