### Abstract

Original language | Undefined |
---|---|

Pages (from-to) | 49-58 |

Number of pages | 10 |

Journal | IEEE transactions on robotics |

Volume | 30 |

Issue number | 1 |

DOIs | |

Publication status | Published - Feb 2014 |

### Keywords

- time-varying flow
- microjets
- microrobots
- self-propulsion
- IR-87539
- Magnetic torque
- Motion Control
- Microchannel
- METIS-300105
- EWI-23862

### Cite this

*IEEE transactions on robotics*,

*30*(1), 49-58. https://doi.org/10.1109/TRO.2013.2281557

}

*IEEE transactions on robotics*, vol. 30, no. 1, pp. 49-58. https://doi.org/10.1109/TRO.2013.2281557

**The control of self-propelled microjets inside a microchannel with time-varying flow rates.** / Khalil, I.S.M.; Magdanz, Veronika; Sanchez, Samuel; Schmidt, Oliver S.; Misra, Sarthak.

Research output: Contribution to journal › Article › Academic › peer-review

TY - JOUR

T1 - The control of self-propelled microjets inside a microchannel with time-varying flow rates

AU - Khalil, I.S.M.

AU - Magdanz, Veronika

AU - Sanchez, Samuel

AU - Schmidt, Oliver S.

AU - Misra, Sarthak

N1 - eemcs-eprint-23862

PY - 2014/2

Y1 - 2014/2

N2 - We demonstrate the closed-loop motion control of self-propelled microjets inside a fluidic microchannel. The motion control of the microjets is achieved in hydrogen peroxide solution with time-varying flow rates, under the influence of the controlled magnetic fields and the self-propulsion force. Magnetic dipole moment of the microjets is characterized using the U-turn and the rotating field techniques. The characterized magnetic dipole moment has an average of 1.4 × 10−13 A.m2 at magnetic field, linear velocity, and boundary frequency of 2 mT, 100 μm/s, and 25 rad/s, respectively. We implement a closed-loop control system that is based on the characterized magnetic dipole moment of the mi- crojets. This closed-loop control system positions the microjets by directing the magnetic field lines toward the reference position. Experiments are done using a magnetic system and a fluidic microchannel with a width of 500 μm. In the absence of a fluid flow, our control system positions the microjets at an average velocity and within an average region-of-convergence (ROC) of 119 μm/s and 390 μm, respectively. As a representative case, we observe that our control system positions the microjets at an average velocity and within an average ROC of 90 μm/s and 600 μm and 120 μm/s and 600 μm when a flow rate of 2.5 μl/min is applied against and along the direction of the microjets, respectively. Furthermore, the average velocity and ROC are determined throughout the flow range (0 to 7.5 μl/min) to characterize the motion of the microjets inside the microchannel.

AB - We demonstrate the closed-loop motion control of self-propelled microjets inside a fluidic microchannel. The motion control of the microjets is achieved in hydrogen peroxide solution with time-varying flow rates, under the influence of the controlled magnetic fields and the self-propulsion force. Magnetic dipole moment of the microjets is characterized using the U-turn and the rotating field techniques. The characterized magnetic dipole moment has an average of 1.4 × 10−13 A.m2 at magnetic field, linear velocity, and boundary frequency of 2 mT, 100 μm/s, and 25 rad/s, respectively. We implement a closed-loop control system that is based on the characterized magnetic dipole moment of the mi- crojets. This closed-loop control system positions the microjets by directing the magnetic field lines toward the reference position. Experiments are done using a magnetic system and a fluidic microchannel with a width of 500 μm. In the absence of a fluid flow, our control system positions the microjets at an average velocity and within an average region-of-convergence (ROC) of 119 μm/s and 390 μm, respectively. As a representative case, we observe that our control system positions the microjets at an average velocity and within an average ROC of 90 μm/s and 600 μm and 120 μm/s and 600 μm when a flow rate of 2.5 μl/min is applied against and along the direction of the microjets, respectively. Furthermore, the average velocity and ROC are determined throughout the flow range (0 to 7.5 μl/min) to characterize the motion of the microjets inside the microchannel.

KW - time-varying flow

KW - microjets

KW - microrobots

KW - self-propulsion

KW - IR-87539

KW - Magnetic torque

KW - Motion Control

KW - Microchannel

KW - METIS-300105

KW - EWI-23862

U2 - 10.1109/TRO.2013.2281557

DO - 10.1109/TRO.2013.2281557

M3 - Article

VL - 30

SP - 49

EP - 58

JO - IEEE transactions on robotics

JF - IEEE transactions on robotics

SN - 1552-3098

IS - 1

ER -