Collaborative Research: Motion Control of Bacteria-Powered Microrobots

合作研究：细菌动力微型机器人的运动控制

• 批准号: 1000284
• 负责人: Anak Agung Julius
• 金额: $ 19.26万
• 依托单位: Rensselaer Polytechnic Institute
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2010
• 资助国家: 美国
• 起止时间: 2010-07-01 至 2014-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1000284&HistoricalAwards=false
• 关键词: Collaborative; Research; Motion; Control; Bacteria

The research objective of this award is to understand the control of bacterial propulsion systems, and to demonstrate the enabling technologies necessary for the feedback control of bacteria-actuated microstructures. Bacteria are ideal systems for many microbiorobotic systems, because of the ease of their ?gproduction and refueling?h. For this purpose, microbiorobots (MBRs) are constructed, which consist of flagellated bacteria integrated with fabricated microstructures. The bacterial cells propel the microstructures in fluidic environments. In this project, some design aspects for the MBRs are explored, including the effects of bacterial density, distribution and orientation on the surface of the MBRs, as well as various modalities to control the bacteria. A number of stimuli, including ultraviolet light, electromagnetic field, chemicals, and thermal stimuli are used as control inputs to the MBRs, while measurement feedback is provided by a computer vision-based system. Deliverables include mathematical models of the system behavior, experimental results on the bacteria morphology, microscopy visualization, prototypical demonstration of motion control, documentation of research results, engineering student education, and engineering research experiences for high school students and teachers.If successful, the outcome of this research will represent a critical step toward understanding how to control bacterial propulsion systems to manipulate larger engineered elements, for example in microassembly and micromanipulation scenarios. Graduate and undergraduate engineering students will benefit from this project through classroom instruction and involvement in the research. The program will also be integrated with various outreach activities, including (i) microbiorobotics workshops at Drexel and RPI, (ii) active recruitment and training of women and under?]represented minority engineers by leveraging and expanding existing and proven programs already in place at Drexel and RPI, (iii) outreach to high school students and teachers at RPI, and (iv) interactive web?]based tutorials and exhibits.

该奖项的研究目标是了解细菌推进系统的控制，并展示细菌驱动微结构反馈控制所需的使能技术。细菌是许多微生物机器人系统的理想系统，因为它们容易？生产和加油？H.为此，构建了微生物机器人（MBR），它由与制造的微结构集成的鞭毛细菌组成。细菌细胞在流体环境中推动微结构。 在这个项目中，一些设计方面的膜生物反应器进行了探索，包括细菌密度的影响，分布和定向的膜生物反应器的表面上，以及各种方式来控制细菌。许多刺激，包括紫外光，电磁场，化学品和热刺激被用作MBR的控制输入，而测量反馈由基于计算机视觉的系统提供。成果包括系统行为的数学模型、关于细菌形态的实验结果、显微镜可视化、运动控制的原型演示、研究结果的文档、工程学生教育以及高中学生和教师的工程研究经验。如果成功，这项研究的结果将代表着理解如何控制细菌推进系统以操纵更大的工程元件的关键一步，例如在微组装和微操作的情况下。研究生和本科工程专业的学生将通过课堂教学和参与研究从这个项目中受益。 该计划还将与各种推广活动相结合，包括（一）在德雷克塞尔和RPI的微生物机器人讲习班，（二）积极招募和培训妇女和以下？代表少数民族工程师的利用和扩大现有的和行之有效的计划已经到位德雷克塞尔和RPI，（iii）推广到高中学生和教师在RPI，和（iv）互动网络？]基于教程和展览。