Modeling and Swimming Property Characterizations of Scaled-Up Helical Microswimmers

Xu, Tiantian; Hwang, Gilgueng; Andreff, Nicolas; Régnier, Stéphane

doi:10.1109/tmech.2013.2269802

Cited by 57 publications

(30 citation statements)

References 25 publications

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“…The magnetically actuated helical swimmers with a magnetic head show a cut-off frequency [21]. Below the cutoff frequency, the helical swimmer rotates in sync with the external rotating magnetic field.…”

Section: Reynolds Numbers and Cut-off Frequencymentioning

confidence: 99%

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Characterization of three-dimensional steering for helical swimmers

Hwang²,

Andreff

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Helical microswimmers capable of propulsion at low Reynolds numbers have been proposed for many applications. However, closed-loop controlled helical swimmers are still challenging because of the limits of optical tracking, and a lack of control parameters lying on the swimming characteristics of both linear propulsion and steering. Although the linear propulsion characteristics of helical swimmers were extensively studied, the steering characteristics have not yet been clearly shown. Helical microswimmers are efficient in propulsion, whereas their high surface-to-volume ratio limits the steering performances. In this paper, we characterized both the direction and inclination steering using a real-time visual tracking of orientation. The direction steering efficiency could be increased in terms of response time with a higher inclination angle both in floating conditions and on a sticky substrate. We thus developed a 3D steering strategy by combining direction and inclination steering to improve the steering performance. We further expect that the characterization of steering performance can contribute to defining the control parameters for future closed-loop control.

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Section: Reynolds Numbers and Cut-off Frequencymentioning

confidence: 99%

“…Compared to our previous works [20], [21], we designed a new helical swimmer and developed Helmholtz coils for uniform rotating magnetic field generation in Section III. The real-time visual tracking of the helical swimmer's axis is also introduced in this section.…”

Section: Introductionmentioning

confidence: 99%

Characterization of three-dimensional steering for helical swimmers

Hwang²,

Andreff

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…In this article, we focus on the magnetic actuation-based motion control of microrobots. In the literature, swimming microrobots are wirelessly propelled in a fluid environment: some of them can be pulled by a magnetic gradient [35]; some of them having helical structures are rotated by a rotating magnetic field and convert the rotation to linear displacement [36][37][38][39]. Researchers have used different magnetic actuation systems allowing differently-sized workspace and degrees of freedom (DoF).…”

Section: Introductionmentioning

confidence: 99%

Magnetic Actuation Based Motion Control for Microrobots: An Overview

et al. 2015

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Untethered, controllable, mobile microrobots have been proposed for numerous applications, ranging from micro-manipulation, in vitro tasks (e.g., operation of microscale biological substances) to in vivo applications (e.g., targeted drug delivery; brachytherapy; hyperthermia, etc.), due to their small-scale dimensions and accessibility to tiny and complex environments. Researchers have used different magnetic actuation systems allowing custom-designed workspace and multiple degrees of freedom (DoF) to actuate microrobots with various motion control methods from open-loop pre-programmed control to closed-loop path-following control. This article provides an overview of the magnetic actuation systems and the magnetic actuation-based control methods for microrobots. An overall benchmark on the magnetic actuation system and control method is also discussed according to the applications of microrobots.

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“…For more than ten years, researchers have developed several kinds of magnetic-actuated helical swimmers or crawlers from several millimeters [6]- [8] down to a few micrometers [9]- [12]. Ghosh and Fischer proved that helical swimmers with an overall length of 2 μm could follow a curved trajectory, for example "R@H," under the action of a preprogrammed magnetic field [13].…”

mentioning

confidence: 99%

“…The fluid motion around the helical swimmer is only characterized by the Reynolds number. Therefore, the swimming properties of helical swimmers should be the same if they swim at the same Reynolds numbers, which makes a dimensionless study possible [8]. At a larger scale, to emulate the environment of microscale swimmers swimming at low Reynolds numbers, one can use a more viscous liquid, such as glycerol.…”

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confidence: 99%

Planar Path Following of 3-D Steering Scaled-Up Helical Microswimmers

Hwang²,

Andreff

et al. 2015

IEEE Trans. Robot.

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Helical microswimmers that are capable of propulsion at low Reynolds numbers have great potential for numerous applications. Several kinds of artificial magnetic-actuated helical microswimmers have been designed by researchers. However, they are primarily open-loop controlled. This paper aims to investigate methods of closed-loop control of a magnetic-actuated helical swimmer at low Reynolds number by using visual feedback. For many in-vitro applications, helical swimmers should pass through a defined path, for example along channels with no prerequisite on the velocity profile along the path. Therefore, the main objective of this paper is to achieve a velocity-independent planar path following task. Since the planar path following is based on 3-D steering control of the helical swimmer, a 3-D pose estimation of a helical swimmer is introduced based on the real-time visual tracking with a stereo vision system. The contribution of this paper is in two parts: The 3-D steering of a helical swimmer is demonstrated by visual servo control; and the path following of a straight line with visual servo control is achieved, then compared with openloop control. We further expect that with this visual servo control method, the helical swimmers will be able to follow reference paths at the microscale.

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Modeling and Swimming Property Characterizations of Scaled-Up Helical Microswimmers

Cited by 57 publications

References 25 publications

Characterization of three-dimensional steering for helical swimmers

Characterization of three-dimensional steering for helical swimmers

Magnetic Actuation Based Motion Control for Microrobots: An Overview

Planar Path Following of 3-D Steering Scaled-Up Helical Microswimmers

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