Robust Control to Manipulate a Microparticle with Electromagnetic Coil System

Ma, Weiyin; Li, Junyang; Niu, Fuzhou; Ji, Haibo; Sun, Dong

doi:10.1109/tie.2017.2701759

Cited by 44 publications

(14 citation statements)

References 40 publications

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“…Trajectory tracking of the microparticle was implemented through the control flow chart shown in Figure 14. The control feedback block is an input-to-state stability controller [25], which computes the currents to be applied to the coils, by the following equation:…”

Section: Simulation Results Of Motion Controlmentioning

confidence: 99%

“…Further, to improve controllability and mane maneuverability of the microrobots, a variety of novel methods were also proposed. An enhanced EMA system was proposed to enable the effective manipulation of microparticles in a considerably larger workspace with higher effectiveness [23][24][25]. A steering system with coaxial Maxwell and Helmholtz coil pairs rotating around the workspace to control the orientation and direction of magnetic thrust vector was proposed to achieve an in-plane three-degrees-of-freedom motion with the minimum number of coils [26].…”

Section: Introductionmentioning

confidence: 99%

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Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot

Xie

Guo

2019

Chin. J. Mech. Eng.

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Non-contact actuated microbeads have attracted a lot of attention in recent years because of its enormous potential in medical, biological, and industrial applications. Researchers have proposed a multitude of electromagnetic actuation (EMA) systems consisting of a variety of coil pairs. However, a unified method to design and optimize a coil pair according to technical specifications still does not exist. Initially, this paper presented the modeling of an untethered ferromagnetic particle actuated by externally applied magnetic field. Based on the models, a simple method of designing and optimizing the EMA coil pair according to technical specifications, was proposed. A loop-shaped coil pair generating uniform magnetic and gradient fields was chosen to demonstrate this method clearly and practically. The results of the optimization showed that the best distance to radius ratio of a loop-shaped coil pair is 1.02 for a uniform magnetic field and 1.75 for a uniform gradient field. The applicability of the method to other shapes of coil configuration was also illustrated. The best width to distance ratio for a square-shaped coil pair is 0.558 and 0.958 for uniform magnetic and gradient fields, respectively. The best height to width ratio and distance to width ratio for a rectangle-shaped coil pair is h/w = [0.9,1.1], d/w = [0.5,0.6] for uniform magnetic field and h/w = [1.0,1.2], d/w = [0.9,1.1] for uniform gradient field. Furthermore, simulations of a microparticle tracking the targeted trajectory were conducted to analyze the performance of the newly designed coils. The simulations suggested the ability of manipulating microparticles via the coils designed by our proposed method. The research mainly proposed a unified design and optimization method for a coil pair, which can support researchers while designing a specific coil pair according to the technical requirements. This study is aimed at researchers who are interested in EMA system and microrobots. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Section: Simulation Results Of Motion Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot

Xie

Guo

2019

Chin. J. Mech. Eng.

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“…To manage the practical problem of actuator error, the fault-tolerant technique is incorporated into the previous ISS-based [26] controller design. Using recursive application of backstepping [32], the fault-tolerant ISS-based controller is designed as…”

Section: A Fault-tolerant Iss-based Backstepping Controllermentioning

confidence: 99%

“…In the first simulation, the bead was driven to track along the clover-like trajectory under the standard ISS-based controller [26]. Figure 4(a) shows the simulation that the microbead could successfully track desired trajectory.…”

Section: Simulationsmentioning

confidence: 99%

“…This method differs from existing robust control schemes because all the information on uncertainties and disturbances, which are difficult to predict in practice, are not required in the controller design. This idea was initiated in the previous report [26], where a nonlinear observer with a higher gain to suppress estimation error and a lower gain to reduce the steady-state error for manipulation of a microparticle. Through incorporating the ISS-based control approach into the proposed nonlinear observer, the control scheme can guarantee the stability of the entire system.…”

Section: Introductionmentioning

confidence: 99%

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Closed-Loop Control for Trajectory Tracking of a Microparticle Based on Input-to-State Stability Through an Electromagnetic Manipulation System

Zhong

et al. 2020

IEEE Access

Self Cite

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Magnetic force-based manipulation has several advantages, including its minimally invasive feature and insensitivity to biological substances. Consequently, it has exhibited considerable potential in many medical applications, such as targeted delivery in precise medicine, in which microparticles are driven to the desired regions precisely in vivo. This study investigates an automated and accurate delivery of magnetic microparticles using a self-constructed electromagnetic coil system. After establishing a simplified second-order dynamic model of microparticles suspended in a fluidic environment, a visual-based automated controller that incorporates the concept of input-to-state stability (ISS) into fault-tolerant technique is developed. This controller enables microparticles to follow a desired trajectory under model uncertainties and environmental disturbances, and address the problem that the actual magnetic driving force may not reach the required value due to magnetic loss in the coil system simultaneously. Input constraint of the magnetic force provided by the system due to device capability is also considered in the fault-tolerant ISS-based controller design. Simulation and experimental results are presented to demonstrate the effectiveness of the proposed approach.

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A Magnetically and Electrically Powered Hybrid Micromotor in Conductive Solutions: Synergistic Propulsion Effects and Label‐Free Cargo Transport and Sensing

Yakov

et al. 2022

Advanced Science

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Electrically powered micro‐ and nanomotors are promising tools for in vitro single‐cell analysis. In particular, single cells can be trapped, transported, and electroporated by a Janus particle (JP) using an externally applied electric field. However, while dielectrophoretic (DEP)‐based cargo manipulation can be achieved at high‐solution conductivity, electrical propulsion of these micromotors becomes ineffective at solution conductivities exceeding ≈0.3 mS cm−1. Here, JP cargo manipulation and transport capabilities to conductive near‐physiological (<6 mS cm−1) solutions are extended successfully by combining magnetic field‐based micromotor propulsion and navigation with DEP‐based manipulation of various synthetic and biological cargos. Combination of a rotating magnetic field and electric field results in enhanced micromotor mobility and steering control through tuning of the electric field frequency. In addition, the micromotor's ability of identifying apoptotic cell among viable and necrotic cells based on their dielectrophoretic difference is demonstrated, thus, enabling to analyze the apoptotic status in the single‐cell samples for drug discovery, cell therapeutics, and immunotherapy. The ability to trap and transport live cells towards regions containing doxorubicin‐loaded liposomes is also demonstrated. This hybrid micromotor approach for label‐free trapping, transporting, and sensing of selected cells within conductive solutions opens new opportunities in drug delivery and single‐cell analysis, where close‐to‐physiological media conditions are necessary.

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Robust Control to Manipulate a Microparticle with Electromagnetic Coil System

Cited by 44 publications

References 40 publications

Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot

Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot

Closed-Loop Control for Trajectory Tracking of a Microparticle Based on Input-to-State Stability Through an Electromagnetic Manipulation System

A Magnetically and Electrically Powered Hybrid Micromotor in Conductive Solutions: Synergistic Propulsion Effects and Label‐Free Cargo Transport and Sensing

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