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

I.S.M. Khalil, Veronika Magdanz, Samuel Sanchez, Oliver S. Schmidt, Sarthak Misra

Research output: Contribution to journalArticleAcademicpeer-review

35 Citations (Scopus)

Abstract

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.
Original languageUndefined
Pages (from-to)49-58
Number of pages10
JournalIEEE transactions on robotics
Volume30
Issue number1
DOIs
Publication statusPublished - Feb 2014

Keywords

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

Cite this

Khalil, I.S.M. ; Magdanz, Veronika ; Sanchez, Samuel ; Schmidt, Oliver S. ; Misra, Sarthak. / The control of self-propelled microjets inside a microchannel with time-varying flow rates. In: IEEE transactions on robotics. 2014 ; Vol. 30, No. 1. pp. 49-58.
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abstract = "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.",
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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.

In: IEEE transactions on robotics, Vol. 30, No. 1, 02.2014, p. 49-58.

Research output: Contribution to journalArticleAcademicpeer-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

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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 -