Feedback Control of an Achiral Robotic Microswimmer

U. Kei Cheang, Hoyeon Kim, Dejan Milutinović, Jongeun Choi, Min Jun Kim

Research output: Contribution to journalArticle

9 Citations (Scopus)

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.

Original languageEnglish
Pages (from-to)245-259
Number of pages15
JournalJournal of Bionic Engineering
Volume14
Issue number2
DOIs
Publication statusPublished - 2017 Apr 1

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Robotics
Uncertainty
Feedback control
Magnetic Fields
Controllers
Magnetic fields
Functional Laterality
Aptitude
Electromagnetic Phenomena
Unsteady flow
Biomechanical Phenomena
Kinematics
Experiments
Feedback
Fluids
Swimming

All Science Journal Classification (ASJC) codes

  • Biotechnology
  • Biophysics
  • Bioengineering

Cite this

Kei Cheang, U. ; Kim, Hoyeon ; Milutinović, Dejan ; Choi, Jongeun ; Kim, Min Jun. / Feedback Control of an Achiral Robotic Microswimmer. In: Journal of Bionic Engineering. 2017 ; Vol. 14, No. 2. pp. 245-259.
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Kei Cheang, U, Kim, H, Milutinović, D, Choi, J & Kim, MJ 2017, 'Feedback Control of an Achiral Robotic Microswimmer', Journal of Bionic Engineering, vol. 14, no. 2, pp. 245-259. https://doi.org/10.1016/S1672-6529(16)60395-5

Feedback Control of an Achiral Robotic Microswimmer. / Kei Cheang, U.; Kim, Hoyeon; Milutinović, Dejan; Choi, Jongeun; Kim, Min Jun.

In: Journal of Bionic Engineering, Vol. 14, No. 2, 01.04.2017, p. 245-259.

Research output: Contribution to journalArticle

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