Optimal Trajectory Tracking for a Magnetically Driven Microswimmer

Buzhardt, Jake; Tallapragada, Phanindra

doi:10.23919/acc45564.2020.9147973

Cited by 3 publications

References 41 publications

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3-D real-time ultrasound tracking of acoustically actuated swimming microdrone

Chen,

Liu,

Cho

et al. 2024

Sci Rep

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Maneuverable microswimmers/microdrones that navigate in hard-to-reach spaces inside human bodies hold a great potential for various biomedical applications. Acoustically actuated microswimmers have already demonstrated feasibility. However, for eventual translation of this technology, a robust 3-D tracking strategy for the microswimmer is particularly required. This paper presents our lab-designed 3-D ultrasound tracking system for real-time tracking of an acoustically actuated 3-D swimming microdrone. The ultrasound tracking system utilizing two ultrasound probes, a step motor and a host controller, was built to track the 3-D arbitrary motion of the microdrone in real-time. The performance of tracking was evaluated in the benchtop experiments by comparing the reconstructed trajectories with synchronized camera recordings. The ultrasound tracking system showed high reliability, with an average error of less than 0.3 mm across six different trials when compared to camera tracking. The results demonstrated the capability of our lab-designed 3-D ultrasound tracking system in accurately tracking the undetermined motion of the acoustic actuated 3-D swimming microdrone in real-time. The developed tracking system holds promise as a potential approach for biomedical applications and could pave the way for future clinical translation of the microswimmer technology.

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3-D real-time ultrasound tracking of acoustically actuated swimming microdrone

Chen,

Liu,

Cho

et al. 2024

Sci Rep

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Controlled Density Transport Using Perron Frobenius Generators

Buzhardt,

Tallapragada

2023

2023 62nd IEEE Conference on Decision and Control (CDC)

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Magnetically Actuated Artificial Microswimmers as Mobile Microparticle Manipulators

Buzhardt

Tallapragada

2020

ASME Letters in Dynamic Systems and Control

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Microscale swimming robots have been envisaged for many biomedical applications such as targeted drug delivery, where the microrobot will be expected to navigate in a fluid environment while carrying a payload. We show that such a payload does not have to be physically bound to the swimmer, but may be instead manipulated by the microrobot through hydrodynamic interaction. We consider a magnetically actuated artificial microswimmer, whose locomotion induces a disturbance velocity field in the fluid, which moves a cargo particle in its vicinity. The problem investigated in this paper is therefore one of coupled locomotion-manipulation of two bodies in a fluid. The swimmer is actuated by a uniform, rotating magnetic field of constant strength leading to net motion in the direction perpendicular to the plane of rotation if the frequency associated with the periodic magnetic field is above a critical frequency. Below this critical frequency, the swimmer tumbles in place without net locomotion. Controlled motion of the particle and swimmer is achieved by switching the planes of rotation of the magnetic field and the frequency of the magnetic field above and below the critical frequency. The results of this paper show that microswimmers can be utilized as mobile manipulators of microparticles in a fluid.

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Optimal Trajectory Tracking for a Magnetically Driven Microswimmer

Cited by 3 publications

References 41 publications

3-D real-time ultrasound tracking of acoustically actuated swimming microdrone

3-D real-time ultrasound tracking of acoustically actuated swimming microdrone

Controlled Density Transport Using Perron Frobenius Generators

Magnetically Actuated Artificial Microswimmers as Mobile Microparticle Manipulators

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