Design, modeling, and control of a horizontal magnetic micromanipulator

Abstract

Magnetic micromanipulators with a wide range of force generating capabilities are able to manipulate micron size particles for various applications and measurements. These magnetic particles can be coated with receptors to specifically bind to target biomolecules. In this work, a horizontal magnetic micromanipulator is designed, modeled and controlled for single micron size magnetic particle manipulations. A method is presented for dynamic modeling of magnetic micromanipulators. A feedback control method is designed that allows direct linearization of the system. It is shown that the proposed controller guarantees the stability of the closed-loop system, and yields zero steady-state error in a wide range of operation conditions. We show that the micromanipulator is able to generate a wide range of piconewton (pN) scale forces on a superparamagnetic particle for single molecule separation, and biosensor developments.

Magnetic Separation of Micro Beads and Cells on a Paper-Based Lateral Flow System

“…where Vp is the volume of the particle,  is the difference between magnetic susceptibilities, B magnetic field, 0 is the magnetic permeability [24]. In [25], it was reported that the electromagnets generated 50-100 mT magnetic field and induced approximately 25 pN magnetic force on a micron size magnetic particle.…”

Feedback controller designs for an electromagnetic micromanipulator

“…Thus, we used finite element–based numerical solvers to solve the magnetostatic design problem. In our previous work, 1 we reported the details of the electromagnet design for one axis system. In this work, COMSOL Multiphysics software is used for two-axes (two-dimensional (2D)) design, in which it provides finite element–based solutions to partial differential equations of the magnetostatic problem.…”

“…where k = k 1 = k 2 is a suitable control gain and 0 < k < ρ / m . The control gain can be selected as k = k 0 m / ρ such that since ρ >> m 1 for the microparticles in the range of 1–10 µm diameter, one can simplify equation (33) as…”

“…Manipulation of the magnetic microparticles has been drawing great attention in recent years due to wide range of applications in biology and medicine. [1][2][3][4][5][6][7] The most commonly used microparticles are made from superparamagnetic or ferromagnetic core materials. These particles are commercially available in sizes ranging from 0.2 to 100 mm and are conjugated with specific antibodies or chemicals to make them functional for various applications.…”

“…6,[33][34][35] The electromagnet-based designs provide some diverse construction alternatives by controlling the amplitude and the direction of the magnetic force. 1 Some applications include measurement of adhesion strength, 36 investigation of receptor binding firmness, 37 torque generations, 38 magnetically driven microrobotic systems [39][40][41] and some industrial applications. 42 In this study, an electromagnet-based magnetic micromanipulator system for controlling microparticles in a fluidic environment is designed, modeled and controlled.…”