Towards model-based control of achiral microswimmers

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

doi:10.1115/DSCC2014-6136

Towards model-based control of achiral microswimmers

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

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 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 language	English
Title of host publication	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
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791846193
DOIs	https://doi.org/10.1115/DSCC2014-6136
Publication status	Published - 2014
Event	ASME 2014 Dynamic Systems and Control Conference, DSCC 2014 - San Antonio, United States Duration: 2014 Oct 22 → 2014 Oct 24

Publication series

Name	ASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Volume	2

Other

Other	ASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Country/Territory	United States
City	San Antonio
Period	14/10/22 → 14/10/24

Bibliographical note

Publisher Copyright:
Copyright © 2014 by ASME.

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1115/DSCC2014-6136

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 [6136] (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014; Vol. 2). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2014-6136

Cheang, U. Kei ; Dejan, Milutinović ; Choi, Jongeun et al. / 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. American Society of Mechanical Engineers, 2014. (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014).

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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.",

author = "Cheang, {U. Kei} and Milutinovi{\'c} Dejan and Jongeun Choi and Minjun Kim",

note = "Publisher Copyright: Copyright {\textcopyright} 2014 by ASME.; ASME 2014 Dynamic Systems and Control Conference, DSCC 2014 ; Conference date: 22-10-2014 Through 24-10-2014",

year = "2014",

doi = "10.1115/DSCC2014-6136",

language = "English",

series = "ASME 2014 Dynamic Systems and Control Conference, DSCC 2014",

publisher = "American Society of Mechanical Engineers",

booktitle = "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",

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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., 6136, ASME 2014 Dynamic Systems and Control Conference, DSCC 2014, vol. 2, 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 et al.
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. American Society of Mechanical Engineers, 2014. 6136 (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - 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.

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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. American Society of Mechanical Engineers. 2014. 6136. (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014). doi: 10.1115/DSCC2014-6136

Towards model-based control of achiral microswimmers

Abstract

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Bibliographical note

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