Conference proceeding
Towards Model-Based Control of Achiral Microswimmers
Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing, v 2
22 Oct 2014
Abstract
In this paper, we introduce the three bead achiral microswimmers controlled wirelessly using magnetic fields with the ability to swim in bulk fluid. The achirality of the microswimmer introduces unknown handedness of the microswimmer. Here, we propose to use a combination of rotating and static magnetic fields to eliminate the uncertainty in swimming direction. Our experimental results demonstrated excellent capability of direction control as well as agile movements. From the experimentally collected data, we estimated a control-oriented two-wheeled robot model. Finally, we design feedback control for microswimmers based on the estimated kinematic model. In particular, we show that the feedback control law moves the microswimmer from any initial conditions to a target set of microswimmer’s position and angle.
Metrics
7 Record Views
15 citations in Scopus
Details
- Title
- Towards Model-Based Control of Achiral Microswimmers
- Creators
- U Kei Cheang - Drexel UniversityMilutinović Dejan - University of California, Santa CruzJongeun Choi - Michigan State UniversityMinjun Kim - Drexel University, Philadelphia, PAMin Soo Kim - A.J. Drexel Nanomaterials Institute
- Publication Details
- Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing, v 2
- Conference
- ASME 2014 Dynamic Systems and Control Conference (San Antonio, Texas, United States, 22 Oct 2014–24 Oct 2014)
- Publisher
- American Society of Mechanical Engineers
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Mechanical Engineering and Mechanics; A.J. Drexel Nanomaterials Institute
- Scopus ID
- 2-s2.0-84929250612
- Other Identifier
- 991019173682104721