Journal article
Feedback Control of an Achiral Robotic Microswimmer
Journal of bionics engineering, v 14(2), pp 245-259
Apr 2017
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Magnetic microswimmers are useful for navigating and performing tasks at small scales. To demonstrate effective control over such microswimmers, we implemented feedback control of the three-bead achiral microswimmers in both simulation and experiment. The achiral microswimmers with the ability to swim in bulk fluid are controlled wirelessly using magnetic fields generated from electromagnetic coils. The achirality of the microswimmers introduces unknown handedness resulting in uncertainty in swimming direction. We use a combination of rotating and static magnetic fields generated from an approximate Helmholtz coil system to overcome such uncertainty. There are also movement uncertainties due to environmental factors such as unsteady flow conditions. A kinematic model based feedback controller was created based on data fitting of experimental data. However, the controller was unable to yield satisfactory performance due to uncertainties from environmental factors; i.e., the time to reach target pose under adverse flow condition is too long. Following the implementation of an integral controller to control the microswimmers’ swimming velocity, the microswimmers were able to reach the target in roughly half the time. Through simulation and experiments, we show that the feedback control law can move an achiral microswimmer from any initial conditions to a target pose.
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Details
- Title
- Feedback Control of an Achiral Robotic Microswimmer
- Creators
- U Kei Cheang - Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA 19104, USAHoyeon Kim - Southern Methodist UniversityDejan Milutinović - University of California, Santa CruzJongeun Choi - Yonsei UniversityMin Jun Kim - Southern Methodist University
- Publication Details
- Journal of bionics engineering, v 14(2), pp 245-259
- Publisher
- Elsevier
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Mechanical Engineering and Mechanics
- Web of Science ID
- WOS:000399967600005
- Scopus ID
- 2-s2.0-85017111474
- Other Identifier
- 991019330802404721
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InCites Highlights
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- Collaboration types
- Domestic collaboration
- International collaboration
- Web of Science research areas
- Engineering, Multidisciplinary
- Materials Science, Biomaterials
- Robotics