Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies

Mohammadi, Alireza; Spong, Mark W.

doi:10.1016/j.automatica.2021.109554

Cited by 12 publications

(3 citation statements)

References 41 publications

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“…Typically, a helical microrobot consists of either a magnetic helical tail or one affixed to a magnetic head. This design facilitates a corkscrew-like motion, translating rotational motion around the helical axis into nonreciprocal translational movement [134,135]. Alteration of the external magnetic field's counterclockwise or clockwise direction makes it easy for helical robots to attain forward or reverse movement [13].…”

Section: Helical Microrobotsmentioning

confidence: 99%

A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation

Xu,

2024

Micromachines

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Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields.

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Section: Helical Microrobotsmentioning

confidence: 99%

A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation

Xu,

2024

Micromachines

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“…Typically, a helical micro/nanorobot consists of either a magnetic helical tail itself or attached to a magnetic head. They obtain a corkscrew-like motion through converting the rotational motion around its helical axis into a nonreciprocal translational movement [73,74]. By switching the counterclockwise or clockwise direction of the external magnetic field, it is easy to achieve the forward or reverse movement of helical robots [5].…”

Section: Helical Micro/nanorobotsmentioning

confidence: 99%

Design, fabrication and application of magnetically actuated micro/nanorobots: a review

Wang

Zhu

et al. 2022

Nanotechnology

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Magnetically actuated micro/nanorobots are typical micro- and nanoscale artificial devices with favorable attributes of quick response, remote and contactless control, harmless human-machine interaction and high economic efficiency. Under external magnetic actuation strategies, they are capable of achieving elaborate manipulation and navigation in extreme biomedical environments. This review focuses on state-of-the-art progresses in design strategies, fabrication techniques and applications of magnetically actuated micro/nanorobots. Firstly, recent advances of various robot designs, including helical robots, surface walkers, ciliary robots, scaffold robots and biohybrid robots, are discussed separately. Secondly, the main progresses of common fabrication techniques are respectively introduced, and application achievements on these robots in targeted drug delivery, minimally invasive surgery and cell manipulation are also presented. Finally, a short summary is made, and the current challenges and future work for magnetically actuated micro/nanorobots are discussed.

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“…Our QP-based control inputs minimize the deviation between the open-loop dynamics vector field and a reference model vector field under the entropy-loss constraints during the folding procedure. Optimal decision strategies have been employed in applications ranging from the control of manipulators with bounded inputs [21] and magnetic microrobots under frequency constraints [22] to controlling transients in power systems [23]. ODS-based strategies belong to the larger family of optimization-based nonlinear controllers [24]- [27], whose applications in robotics are growing, thanks in part to advancements in mobile computation power.…”

mentioning

confidence: 99%

Quadratic Optimization-Based Nonlinear Control for Protein Conformation Prediction

Mohammadi¹,

Spong²

2021

Preprint

Self Cite

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Predicting the final folded structure of protein molecules and simulating their folding pathways is of crucial importance for designing viral drugs and studying diseases such as Alzheimer's at the molecular level. To this end, this paper investigates the problem of protein conformation prediction under the constraint of avoiding high-entropyloss routes during folding. Using the well-established kinetostatic compliance (KCM)-based nonlinear dynamics of a protein molecule, this paper formulates the protein conformation prediction as a pointwise optimal control synthesis problem cast as a quadratic program (QP). It is shown that the KCM torques in the protein folding literature can be utilized for defining a reference vector field for the QP-based control generation problem. The resulting kinetostatic control torque inputs will be close to the KCM-based reference vector field and guaranteed to be constrained by a predetermined bound; hence, high-entropy-loss routes during folding are avoided while the energy of the molecule is decreased. I. INTRODUCTION Computer-aided prediction of the folded structure of a protein molecule lies at the heart of protein engineering, drug discovery, and investigating diseases such as Alzheimer's at the molecular and cellular levels [1]. The 3D structure of a protein molecule, known as the protein conformation, is mainly determined by its linear amino acid (AA) sequence [2]. The protein folding problem is concerned with determining the final folded structure of a protein molecule given its linear AA sequence. Studying the folding pathways is also important for designing viral drugs that cause misfolding in virus proteins [3]. Knowledge-based and physics-based methods are the two prominent computational approaches for solving the protein folding problem. Knowledge-based methods, which also include the approach of Google's DeepMind AlphaFold [4], rely on using previously determined types of folds to solve the protein folding problem [5]. In physicsbased methods, on the other hand, protein folding simulations are carried out using the first principles [6]. Physicsbased methods enjoy several advantages over their knowledge-based counterparts such as the ability to model the protein-nucleic acid interactions and to simulate protein folding pathways. However, physics-based methods relying on standard molecular dynamics (MD) suffer from numerical instabilities [7]. To address the inherent challenges of MD-based protein folding solutions, Kazerounian and collaborators [8]-[11] introduced the kinetostatic compliance

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Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies

Cited by 12 publications

References 41 publications

A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation

A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation

Design, fabrication and application of magnetically actuated micro/nanorobots: a review

Quadratic Optimization-Based Nonlinear Control for Protein Conformation Prediction

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