Control of multiple heterogeneous magnetic microrobots in two dimensions on nonspecialized surfaces

IEEE Transactions on Robotics

Volumn 28, Issue 1, 2012, Pages 172-182

  Diller, Eric ^a   Floyd, Steven ^a,b   Pawashe, Chytra ^c,d   Sitti, Metin ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b ARETÉ ASSOCIATES   (United States)

^c CARNEGIE MELLON UNIVERSITY   (United States)

^d INTEL CORPORATION   (United States)

Author keywords

Distributed robot systems; micro nanorobots; parallel robots

Indexed keywords

2-D SPACE; APPLIED MAGNETIC FIELDS; BIOMANIPULATION; CONTROL METHODS; CONTROL PARAMETERS; CONTROL SIGNAL; CONTROL STRATEGIES; DISTRIBUTED ROBOT SYSTEMS; GLOBAL POSITIONING; INDEPENDENT CONTROL; MICRO FLUIDIC SYSTEM; MICRO/NANOROBOTS; MICROROBOTS; PARALLEL ROBOTS; POTENTIAL APPLICATIONS; TWO-DIMENSION; VELOCITY RESPONSE; WAVE FORMS;

MAGNETIC FIELDS;

DATA COMMUNICATION EQUIPMENT;

EID: 84857030317     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2170330     Document Type: Article

References (24)

1. M. Sitti, "Miniature devices:Voyage of the microrobots, " Nature , vol. 458, pp. 1121-1122, Apr. 30, 2009.
2. B. Donald, C. Levey, and I. Paprotny, "Planar microassembly by parallel actuation of MEMS microrobots," J. Microelectromech. Sys. , vol. 17, pp. 789-808, 2008.
3. M. Sakar, E.B. Steager,A.A. Juliusz,M.Kim,V.Kumar, and G. J. Pappas, "Biosensing and actuation for microbiorobots," in Proc. IEEE Int. Conf. Rob. Autom., Anchorage, AK, 2010, pp. 3141-3146.
4. D. R. Frutiger, K. Vollmers, B. E. Kratochvil, and B. J. Nelson, "Small, fast, and under control:Wireless resonant magnetic micro-agents," Int. J. Rob. Res. , vol. 29, pp. 613-636, 2009.
5. L. Zhang, J. Abbott, L. Dong, B. Kratochvil, D. Bell, and B. Nelson, "Artificial bacterial flagella: Fabrication and magnetic control," App. Phy. Lett. , vol. 94, pp. 064107-064109, 2009.
6. A. Yamazaki, M. Sendoh, K. Ishiyama, K. I. Arai, R. Kato, M. Nakano, and H. Fukunaga, "Wireless micro swimming machine with magnetic thin film," J. Mag. Mag. Mat. , vol. 272-276, pp. 1741-1742, 2004.
7. C. Pawashe, S. Floyd, and M. Sitti, "Modeling and experimental characterization of an untethered magnetic micro-robot," Int. J. Rob. Res. , vol. 28, pp. 1077-1094, 2009.
8. A. Ghosh and P. Fischer, "Controlled propulsion of artificial magnetic nanostructured propellers," Nano Lett. , vol. 9, pp. 2243-2245, 2009.
9. H. Maruyama, T. Fukuda, and F. Arai, "Laser manipulation and optical adhesion control of a functional gel-microtool for on-chip cell manipulation," in Proc. IEEE Int. Conf. Int. Rob. Syst. , St. Louis, MO, 2009, pp. 1413-1418.
10. O. Sul, M. Falvo, R. Taylor, S. Washburn, and R. Superfine, "Thermally actuated untethered impact-driven locomotive microdevices," App. Phys. Lett. , vol. 89, pp. 203512-203514, 2006.
11. A. Solovev, Y. Mei, E. Urena, G. Huang, and O. Schmidt, "Catalytic microtubular jet engines self-propelled by accumulated gas bubbles," Small , vol. 5, pp. 1688-1692, 2009.
12. S. Martel, M. Mohammadi, O. Felfoul, Z. Lu, and P. Pouponneau, "Flagellated magnetotactic bacteria as controlled MRI-trackable propulsion and steering systems for medical nanorobots operating in the human microvasculature, " Int. J. Rob. Res. , vol. 28, pp. 571-582, 2009.
13. B. Behkam and M. Sitti, "Bacterial flagella-based propulsion and on/off motion control of microscale objects," App. Phys. Lett. , vol. 90, pp. 023902-023904, 2007.
14. B. Behkam and M. Sitti, "Effect of quantity and configuration of attached bacteria on bacterial propulsion of microbeads," Appl. Phys. Lett. , vol. 93, pp. 223901-223903, 2008.
15. B. Kratochvil, D. Frutiger, K. Vollmers, and B. Nelson, "Visual servoing and characterization of resonant magnetic actuators for decoupled locomotion of multiple untethered mobile microrobots, " in Proc. IEEE Int. Conf. Robot. Autom., Kobe, Japan, 2009, pp. 1010-1015.
16. T. Bretl, "Control of many agents using few instructions, " presented at the Robot.: Sci. Syst. Conf., Atlanta, GA, 2007.
17. S. Floyd, E. Diller, C. Pawashe, and M. Sitti, "Control methodologies for a heterogeneous group of untethered magnetic micro-robots," Int. J. Rob. Res., Mar. 2011. DOI: 10.1177/0278364911399525.
18. E. Diller, S. Floyd, C. Pawashe, and M. Sitti, "Control of multiple heterogeneous magnetic micro-robots on non-specialized surfaces," in Proc. IEEE Int. Conf. Robot. Autom. , Shanghai, China, May 2011, pp. 115-120.
19. C. Pawashe, S. Floyd, andM. Sitti, "Multiple magnetic microrobot control using electrostatic anchoring," App. Phys. Le tt., vol. 94, pp. 164108-164110, 2009.
20. S. Floyd, C. Pawashe, and M. Sitti, "Microparticle manipulation using multiple untethered magnetic microrobots on an electrostatic surface," in Proc. IEEE/RSJ Int. Conf. Int. Rob. Sys. , St. Louis, MO, 2009, pp. 528-533.
21. M. Imbaby, K. Jiang, and I. Chang, "Net shape fabrication of stainlesssteel micro machine components from metallic powder," J. Micromech. Microeng. , vol. 18, pp. 115 018-115 025, 2008.
22. S. Floyd, C. Pawashe, and M. Sitti, "Two-dimensional contact and noncontact micro-manipulation in liquid using an untethered mobile magnetic micro-robot," IEEE Trans. Robot. , vol. 25, no. 6, pp. 1332-1342, Dec. 2009.
23. O. Cugat, J. Delamare, and G. Reyne, "Magnetic micro-actuators and systems (magmas)," IEEE Trans. Magn. , vol. 39, no. 6, pp. 3607-3612, Nov. 2003.
24. V. Chepoi, K. Nouioua, and Y. Vaxs, "A rounding algorithm for approximatingminimum Manhatan networks, " Theor. Comp. Sci. , vol. 390, no. 1, pp. 56-69, 2008. (Pubitemid 350309473)