@inbook{75edbe93fb51481fb253f0a1a510a986,

title = "Characterization and control of biological microrobots",

abstract = "This work addresses the characterization and control of Magnetotactic Bacterium (MTB) which can be considered as a biological microrobot. Magnetic dipole moment of the MTB and response to a field-with-alternating-direction are characterized. First, the magnetic dipole moment is characterized using four techniques, i.e., Transmission Electron Microscopy images, flip-time, rotating-field and u-turn techniques. This characterization results in an average magnetic dipole moment of 3.32×10−16 A.m2 and 3.72×10−16 A.m2 for non-motile and motile MTB, respectively. Second, the frequency response analysis of MTB shows that its velocity decreases by 38% for a field-with-alternating-direction of 30 rad/s. Based on the characterized magnetic dipole moment, the magnetic force produced by our magnetic system is five orders-of-magnitude less than the propulsion force generated by the flagellum of the MTB. Therefore, point-to-point positioning of MTB cannot be achieved by exerting a magnetic force. A closed-loop control strategy is devised based on calculating the position tracking error, and capitalizes on the frequency response analysis of the MTB. Point-to-point closed-loop control of MTB is achieved for a reference set-point of 60 μm with average velocity of 20 μm/s. The closed-loop control system positions the MTB within a region-of-convergence of 10 μm diameter.",

keywords = "dipole moment, EWI-23332, Characterization, IR-86198, Biological microrobots, Magnetic, Control",

author = "I.S.M. Khalil and Pichel, {Marc Philippe} and L. Zondervan and Leon Abelmann and Sarthak Misra",

year = "2013",

doi = "10.1007/978-3-319-00065-7_42",

language = "English",

isbn = "978-3-319-00065-7",

series = "Springer Tracts in Advanced Robotics",

publisher = "Springer",

pages = "617--631",

editor = "Desai, {Jaydev P.} and Gregory Dudek and Oussama Khatib and Vijay Kumar",

booktitle = "Experimental Robotics",

address = "Netherlands",

}