ICRA 2012 Paper Abstract


Paper WeB06.1

Ou, Yan (Rensselaer Polytechnic Institute), Kim, Dal Hyung (Drexel University), Kim, Paul (Drexel University), Kim, MinJun (Drexel University), Julius, Agung (Rensselaer Polytechnic Institute)

Motion Control of Tetrahymena Pyriformis Cells with Artificial Magnetotaxis: Model Predictive Control (MPC) Approach

Scheduled for presentation during the Regular Session "Micro and Nano Robots II" (WeB06), Wednesday, May 16, 2012, 10:30−10:45, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Micro/Nano Robots, Biomimetics


The use of live microbial cells as microscale robots is an attractive premise, primarily because they are easy to produce and to fuel. In this paper, we study the motion control of magnetotactic Tetrahymena pyriformis cells. Magnetotactic T. pyriformis is produced by introducing artificial magnetic dipole into the cells. Subsequently, they can be steered by using an external magnetic field. We observe that the external magnetic field can only be used to affect the swimming direction of the cells, while the swimming velocity depends largely on the cellsí own propulsion. Feedback information for control is obtained from a computer vision system that tracks the cell. The contribution of this paper is twofold. First, we construct a discrete-time model for the cell dynamics that is based on first principle. Subsequently, we identify the model parameters using the Least Squares approach. Second, we formulate a model predictive approach for feedback control of magnetotactic T. pyriformis. Both the model fitness and the performance of the feedback controller are verified using experimental data.



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