Control of Multiple Heterogeneous Magnetic Microrobots in Two Dimensions on Nonspecialized Surfaces
Control of Multiple Heterogeneous Magnetic Microrobots in Two Dimensions on Nonspecialized Surfaces
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DOI：
10.1109/tro.2011.2170330
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发表时间：
2012-02-01
影响因子：
7.8
通讯作者：
Sitti, Metin
中科院分区：
文献类型：
--
作者：
Diller, Eric;Floyd, Steven;Sitti, Metin
在本文中，我们提出了控制多个无系绳磁性微型机器人（称为magu -mu机器人）的方法，这些机器人的所有尺寸都在1mm以下，而不需要专门的表面。我们研究了一组Mag-mu机器人，它们在几何上被设计成对相同的外加磁场做出独特的反应。通过控制磁场波形，Mag-mu机器人的个体和子群能够以平行但不同的方式移动。研究了几何形状不同的机器人和一组相同制造的机器人的控制，并制定了一维和二维运动的控制策略。这是通过学习每个微机器人对各种控制信号的速度响应，并利用每个微机器人响应的唯一性来实现独立控制。通过仿真和实验研究了高级控制参数的影响，并在二维空间中演示了两个和三个微型机器人同时独立的全球定位。由于这种控制方法无需使用专门的表面，因此在微流体系统和生物操纵等领域具有潜在的应用前景。
In this paper, we propose methods to control multiple untethered magnetic microrobots (called Mag-mu Bots), with all dimensions under 1 mm, without the need for a specialized surface. We investigate sets of Mag-mu Bots that are geometrically designed to respond uniquely to the same applied magnetic fields. By controlling the magnetic field waveforms, individual and subgroups of Mag-mu Bots are able to locomote in a parallel but dissimilar fashion. The control of geometrically dissimilar Mag-mu Bots and a group of identically fabricated Mag-mu Bots are investigated, and control strategies are developed for 1-D and 2-D motion. This is accomplished by learning the velocity response of each microrobot to various control signals and using the uniqueness of each microrobot response to achieve independent control. The effect of high-level control parameters are investigated in simulation and in experiments, and the simultaneous independent global positioning of two and three microrobots is demonstrated in 2-D space. As this control method is accomplished without the use of a specialized surface, it has potential applications in areas such as microfluidic systems and biomanipulation.