Towards model-based control of achiral microswimmers

U. Kei Cheang, Milutinović Dejan, Jongeun Choi, Minjun Kim

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

8 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationDynamic 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
PublisherAmerican Society of Mechanical Engineers
Volume2
ISBN (Electronic)9780791846193
DOIs
Publication statusPublished - 2014 Jan 1
EventASME 2014 Dynamic Systems and Control Conference, DSCC 2014 - San Antonio, United States
Duration: 2014 Oct 222014 Oct 24

Other

OtherASME 2014 Dynamic Systems and Control Conference, DSCC 2014
CountryUnited States
CitySan Antonio
Period14/10/2214/10/24

Fingerprint

Feedback control
Magnetic fields
Kinematics
Robots
Fluids
Uncertainty
Swimming

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

Cheang, U. K., Dejan, M., Choi, J., & Kim, M. (2014). Towards model-based control of achiral microswimmers. In 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 (Vol. 2). [6136] American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2014-6136
Cheang, U. Kei ; Dejan, Milutinović ; Choi, Jongeun ; Kim, Minjun. / Towards model-based control of achiral microswimmers. 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. Vol. 2 American Society of Mechanical Engineers, 2014.
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Cheang, UK, Dejan, M, Choi, J & Kim, M 2014, Towards model-based control of achiral microswimmers. in 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. vol. 2, 6136, American Society of Mechanical Engineers, ASME 2014 Dynamic Systems and Control Conference, DSCC 2014, San Antonio, United States, 14/10/22. https://doi.org/10.1115/DSCC2014-6136

Towards model-based control of achiral microswimmers. / Cheang, U. Kei; Dejan, Milutinović; Choi, Jongeun; Kim, Minjun.

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. Vol. 2 American Society of Mechanical Engineers, 2014. 6136.

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

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Cheang UK, Dejan M, Choi J, Kim M. Towards model-based control of achiral microswimmers. In 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. Vol. 2. American Society of Mechanical Engineers. 2014. 6136 https://doi.org/10.1115/DSCC2014-6136