Control of magnetotactic bacterium in a micro-fabricated maze

I.S.M. Khalil, Marc Philippe Pichel, M.P. Pichel, B.A. Reefman, Ö. Sardan Sukas, Leon Abelmann, Sarthak Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

    20 Citations (Scopus)
    129 Downloads (Pure)

    Abstract

    We demonstrate the closed-loop control of a magnetotactic bacterium (MTB), i.e., Magnetospirillum magnetotacticum, within a micro-fabricated maze using a magneticbased manipulation system. The effect of the channel wall on the motion of the MTB is experimentally analyzed. This analysis is done by comparing the characteristics of the transient- and steady-states of the controlled MTB inside and outside a microfabricated maze. In this analysis, the magnetic dipole moment of our MTB is characterized using a motile technique (the u-turn technique), then used in the realization of a closed-loop control system. This control system allows the MTB to reach reference positions within a micro-fabricated maze with a channel width of 10 μm, at a velocity of 8 μm/s. Further, the control system positions the MTB within a region-of-convergence of 10 μm in diameter. Due to the effect of the channel wall, we observe that the velocity and the positioning accuracy of the MTB are decreased and increased by 71% and 44%, respectively.
    Original languageUndefined
    Title of host publication2013 IEEE International Conference on Robotics and Automation (ICRA)
    Place of PublicationKarlsruhe
    PublisherIEEE RAS
    Pages5488-5493
    Number of pages6
    ISBN (Print)978-1-4673-5642-8
    Publication statusPublished - 6 May 2013
    Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
    Duration: 6 May 201310 May 2013

    Publication series

    Name2013 IEEE International Conference on Robotics and Automation
    PublisherIEEE RAS

    Conference

    Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
    Abbreviated titleICRA
    CountryGermany
    CityKarlsruhe
    Period6/05/1310/05/13

    Keywords

    • EWI-23330
    • magnetotactic bacteria
    • IR-86197
    • Magnetic
    • METIS-296469
    • Control

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