Obstacle avoidance method for microbiorobots using electric field control

Hoyeon Kim, U. Kei Cheang, Min Jun Kim, Kyoungwoo Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents an obstacle-avoidance based approach for the control of MicroBioRobots (MBRs) using electric field. A MBR is an integrated cell-based robotic system, each of which consists of a SU-8 microstructure blotted with swarming bacteria. The concept of the MBR is to utilize inorganic structures as platforms to harness the collective propulsive power from the biomolecular motors of bacteria. We previously demonstrated motion control of MBRs using electric field. However, in the presence of obstacles in the workspace, the electric field can be distorted. In this paper we evaluate the distortion of electric field around obstacles and develop a motion control algorithm that takes the distortion into account. Our obstacle-avoidance method enhances the controllability of the MBRs by allowing them to avoid collision with static obstacles in real time. Artificial potential field was used in our approach to generate the objective function regarding the controllability of the MBRs under electric field. Furthermore, we use COMSOL Multiphysics engineering simulation software to model an electric field applied across the testbed to characterize distortions of the field around the boundaries of static obstacles. We demonstrate the feasibility of our obstacle avoidance algorithm through experiment and simulation.

Original languageEnglish
Title of host publication4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages117-122
Number of pages6
ISBN (Electronic)9781479936687
DOIs
Publication statusPublished - 2014 Jan 1
Event4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014 - Hong Kong, China
Duration: 2014 Jun 42014 Jun 7

Other

Other4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
CountryChina
CityHong Kong
Period14/6/414/6/7

Fingerprint

Collision avoidance
Electric fields
Motion control
Controllability
Bacteria
Testbeds
Robotics
Microstructure
Experiments

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Information Systems
  • Control and Systems Engineering
  • Computer Networks and Communications

Cite this

Kim, H., Cheang, U. K., Kim, M. J., & Lee, K. (2014). Obstacle avoidance method for microbiorobots using electric field control. In 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014 (pp. 117-122). [6917446] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER.2014.6917446
Kim, Hoyeon ; Cheang, U. Kei ; Kim, Min Jun ; Lee, Kyoungwoo. / Obstacle avoidance method for microbiorobots using electric field control. 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 117-122
@inproceedings{ee1634684126490baca7a18392e39b18,
title = "Obstacle avoidance method for microbiorobots using electric field control",
abstract = "This paper presents an obstacle-avoidance based approach for the control of MicroBioRobots (MBRs) using electric field. A MBR is an integrated cell-based robotic system, each of which consists of a SU-8 microstructure blotted with swarming bacteria. The concept of the MBR is to utilize inorganic structures as platforms to harness the collective propulsive power from the biomolecular motors of bacteria. We previously demonstrated motion control of MBRs using electric field. However, in the presence of obstacles in the workspace, the electric field can be distorted. In this paper we evaluate the distortion of electric field around obstacles and develop a motion control algorithm that takes the distortion into account. Our obstacle-avoidance method enhances the controllability of the MBRs by allowing them to avoid collision with static obstacles in real time. Artificial potential field was used in our approach to generate the objective function regarding the controllability of the MBRs under electric field. Furthermore, we use COMSOL Multiphysics engineering simulation software to model an electric field applied across the testbed to characterize distortions of the field around the boundaries of static obstacles. We demonstrate the feasibility of our obstacle avoidance algorithm through experiment and simulation.",
author = "Hoyeon Kim and Cheang, {U. Kei} and Kim, {Min Jun} and Kyoungwoo Lee",
year = "2014",
month = "1",
day = "1",
doi = "10.1109/CYBER.2014.6917446",
language = "English",
pages = "117--122",
booktitle = "4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
address = "United States",

}

Kim, H, Cheang, UK, Kim, MJ & Lee, K 2014, Obstacle avoidance method for microbiorobots using electric field control. in 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014., 6917446, Institute of Electrical and Electronics Engineers Inc., pp. 117-122, 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014, Hong Kong, China, 14/6/4. https://doi.org/10.1109/CYBER.2014.6917446

Obstacle avoidance method for microbiorobots using electric field control. / Kim, Hoyeon; Cheang, U. Kei; Kim, Min Jun; Lee, Kyoungwoo.

4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 117-122 6917446.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - Obstacle avoidance method for microbiorobots using electric field control

AU - Kim, Hoyeon

AU - Cheang, U. Kei

AU - Kim, Min Jun

AU - Lee, Kyoungwoo

PY - 2014/1/1

Y1 - 2014/1/1

N2 - This paper presents an obstacle-avoidance based approach for the control of MicroBioRobots (MBRs) using electric field. A MBR is an integrated cell-based robotic system, each of which consists of a SU-8 microstructure blotted with swarming bacteria. The concept of the MBR is to utilize inorganic structures as platforms to harness the collective propulsive power from the biomolecular motors of bacteria. We previously demonstrated motion control of MBRs using electric field. However, in the presence of obstacles in the workspace, the electric field can be distorted. In this paper we evaluate the distortion of electric field around obstacles and develop a motion control algorithm that takes the distortion into account. Our obstacle-avoidance method enhances the controllability of the MBRs by allowing them to avoid collision with static obstacles in real time. Artificial potential field was used in our approach to generate the objective function regarding the controllability of the MBRs under electric field. Furthermore, we use COMSOL Multiphysics engineering simulation software to model an electric field applied across the testbed to characterize distortions of the field around the boundaries of static obstacles. We demonstrate the feasibility of our obstacle avoidance algorithm through experiment and simulation.

AB - This paper presents an obstacle-avoidance based approach for the control of MicroBioRobots (MBRs) using electric field. A MBR is an integrated cell-based robotic system, each of which consists of a SU-8 microstructure blotted with swarming bacteria. The concept of the MBR is to utilize inorganic structures as platforms to harness the collective propulsive power from the biomolecular motors of bacteria. We previously demonstrated motion control of MBRs using electric field. However, in the presence of obstacles in the workspace, the electric field can be distorted. In this paper we evaluate the distortion of electric field around obstacles and develop a motion control algorithm that takes the distortion into account. Our obstacle-avoidance method enhances the controllability of the MBRs by allowing them to avoid collision with static obstacles in real time. Artificial potential field was used in our approach to generate the objective function regarding the controllability of the MBRs under electric field. Furthermore, we use COMSOL Multiphysics engineering simulation software to model an electric field applied across the testbed to characterize distortions of the field around the boundaries of static obstacles. We demonstrate the feasibility of our obstacle avoidance algorithm through experiment and simulation.

UR - http://www.scopus.com/inward/record.url?scp=84910663520&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84910663520&partnerID=8YFLogxK

U2 - 10.1109/CYBER.2014.6917446

DO - 10.1109/CYBER.2014.6917446

M3 - Conference contribution

SP - 117

EP - 122

BT - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Kim H, Cheang UK, Kim MJ, Lee K. Obstacle avoidance method for microbiorobots using electric field control. In 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 117-122. 6917446 https://doi.org/10.1109/CYBER.2014.6917446