MiniMag: A Hemispherical Electromagnetic System for 5-DOF Wireless Micromanipulation

Kratochvil, Bradley E.; Kummer, M.P.; Erni, Sandro; Borer, Ruedi; Frutiger, Dominic R.; Schürle, Simone; Nelson, Bradley J.

doi:10.1007/978-3-642-28572-1_22

Cited by 77 publications

(60 citation statements)

References 11 publications

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“…To avoid heavy computation for calculating the magnetic force, and also considering that the size of the workspace is small, we can assume that the bead's position is always at the center of the workspace [19]. As a result, the magnetic force can be simplified as a function of the single variable I , and (4) can be rewritten as…”

Section: B Dynamicsmentioning

confidence: 99%

Modeling and closed-loop control of electromagnetic manipulation of a microparticle

Niu

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Precise manipulation of microparticles has received considerable attention for its great potential applications to clinical medicine. Among the existing manipulation techniques, the method of magnetic force based manipulation exhibits great advantages for its minimally-invasive feature and insensitivity to biological substance, making it ideally suitable to in vivo environment. On the other hand, increasing demand for accurate and high throughput magnetic manipulation highlights the need of incorporating automation technology in the manipulation. In this paper, we propose an automated control approach to manipulating a magnetic microparticle (bead) with a home-designed electromagnetic coil system. A simplified two-order dynamic model for a microparticle suspended in fluidic environment is established first. A closed-loop controller with utilizing visual feedback is then developed based on input-to-state stability and backstepping methodology. The proposed controller guarantees that the microparticle follows the desired trajectory even in presence of environmental uncertainties and disturbances. Experiments are performed to demonstrate the effectiveness of the proposed approach.

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Section: B Dynamicsmentioning

confidence: 99%

Modeling and closed-loop control of electromagnetic manipulation of a microparticle

Niu

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…The latter was engineered so that it is easily integrated with regular and inverted optical microscopes. The MFG can generate fields in the mT range over a spherical working area with a radius of 10 mm and dynamic fields up to 2 kHz [22]. The MFG is shown in Fig.…”

Section: Automation System Design a Physical Systemmentioning

confidence: 99%

Navigation of a rolling microrobot in cluttered environments for automated crystal harvesting

Charreyron

Pieters

Tung

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-We present a holistic system for automating the motion of a rolling microrobot for protein crystal harvesting. The RodBot, which was introduced in previous work, is able to perform noncontact manipulation of microscopic objects such as fragile crystals by trapping them in an induced vortex fluid flow. Here, we are concerned with navigating the RodBot autonomously in a liquid environment containing obstacles such as crystals. A literature review shows existing approaches to untethered microrobot control are limited and cluttered environments are often not considered. We demonstrate real-time tracking of the RodBot and surrounding obstacles, kinematic obstacle-free path planning, and nonholonomic path following. The system was evaluated in qualitative and quantitative experiments, shows satisfactory performance, and presents itself as a first step towards fully automated crystal harvesting.

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“…[12] Once the desired direction and input force are known, we may multiply both sides of Equation (10) by the pseudoinverse of the coefficient matrix evaluated at the position of the microrobot to find the required currents of the coils.…”

Section: Steering Of a Magnetic Cylindrical Microrobot 133mentioning

confidence: 99%

“…The coils focus on a 10 mm Â 10 mm Â 10-mm workspace, which is located 20 mm from the center of each coil. [12,13] By passing a current through each coil, a magnetic field is generated within the workspace.…”

Section: Simulation and Experimentsmentioning

confidence: 99%

“…Yesin et al [11] steered an elliptical micron-sized robot, with applications within different bodily fluids, by using Helmholtz and Maxwell coils that generated a magnetic field gradient of 0.7 T=m and a magnetic field strength of 0.2 T. The same group later developed a customized magnetic actuation system, which utilized superimposed magnetic fields from a number of electromagnetic coils to generate gradients of more than 2 T=m. [12,13] This system was used to propel microrobots by using an open-loop control system. To enable automatic closed-loop motion control of magnetic agents, a position feedback system is required.…”

Section: Introductionmentioning

confidence: 99%

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Electromagnetic Steering of a Magnetic Cylindrical Microrobot Using Optical Feedback Closed-Loop Control

Ghanbari

Chang

Nelson

et al. 2014

International Journal of Optomechatronics

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Control of small magnetic machines in viscous fluids may enable new medical applications of microrobots. Small-scale viscous environments lead to low Reynolds numbers, and although the flow is linear and steady, the magnetic actuation introduces a dynamic response that is nonlinear. We account for these nonlinearities, and the uncertainties in the dynamic and magnetic properties of the microrobot, by using time-delay estimation. The microrobot consists of a cylindrical magnet, 1 mm long and 500 lm in diameter, and is tracked using a visual feedback system. The microrobot was placed in silicone oil with a dynamic viscosity of 1 Pa.s, and followed step inputs with rise times of 0.45 s, 0.51 s, and 1.77 s, and overshoots of 37.5%, 33.3%, and 34.4% in the x, y, and z directions, respectively. In silicone oil with a viscosity of 3 Pa.s, the rise times were 1.04 s, 0.72 s, and 2.19 s, and the overshoots were 47.8%, 48.5%, and 86.8%. This demonstrates that closed-loop control of the magnetic microrobot was better in the less viscous fluid.

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MiniMag: A Hemispherical Electromagnetic System for 5-DOF Wireless Micromanipulation

Cited by 77 publications

References 11 publications

Modeling and closed-loop control of electromagnetic manipulation of a microparticle

Modeling and closed-loop control of electromagnetic manipulation of a microparticle

Navigation of a rolling microrobot in cluttered environments for automated crystal harvesting

Electromagnetic Steering of a Magnetic Cylindrical Microrobot Using Optical Feedback Closed-Loop Control

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