Simulated Motion Control of a School of Microrobots With Random Walks

dc.authorscopusid 16239623800
dc.contributor.author Tabak, A.F.
dc.contributor.author Tabak, Ahmet Fatih
dc.contributor.other Mechatronics Engineering
dc.date.accessioned 2023-10-19T15:05:37Z
dc.date.available 2023-10-19T15:05:37Z
dc.date.issued 2022
dc.department-temp Tabak, A.F., Kadir Has University, Mechatronics Engineering, Istanbul, Turkey en_US
dc.description 6th International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2022 --20 October 2022 through 22 October 2022 -- --184355 en_US
dc.description.abstract The dynamics of individual elements in a swarm moving in biological fluids is an important aspect to ascertain the effectiveness of cumulative motion control. The hydrodynamic interaction between the swarm and surrounding walls as well as between the micro-swimmers, i.e., magnetotactic bacteria, within the swarm are affected by Brownian motion. A small group of magnetically-controlled bacteria swimming in a biological fluid could be simulated in a simplified fashion to design and test controllers for addressable motion with random walks. Furthermore, the disruptive effect of the random walks might prove detrimental to the control performance. This paper showcases a simulation study of adaptive motion control for a trio of magnetotactic bacteria swimming as a group in human synovial fluid. The bacterial group is confined by the joint geometry and maneuvered by the external magnetic field of a permanent magnet positioned by an open kinematic chain. Results show that it is possible to control the yaw angle of the bacterial group while swimming under the influence of repulsive force and the Brownian noise although each swimmer follows a different path. It is further observed that, when bacteria came in contact with solid surfaces, the control algorithm could be prone to misinterpreted sensory data. © 2022 IEEE. en_US
dc.identifier.citationcount 0
dc.identifier.doi 10.1109/ISMSIT56059.2022.9932733 en_US
dc.identifier.endpage 922 en_US
dc.identifier.isbn 9781665470131
dc.identifier.scopus 2-s2.0-85142860177 en_US
dc.identifier.startpage 916 en_US
dc.identifier.uri https://doi.org/10.1109/ISMSIT56059.2022.9932733
dc.identifier.uri https://hdl.handle.net/20.500.12469/4972
dc.khas 20231019-Scopus en_US
dc.language.iso en en_US
dc.publisher Institute of Electrical and Electronics Engineers Inc. en_US
dc.relation.ispartof ISMSIT 2022 - 6th International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings en_US
dc.relation.publicationcategory Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı en_US
dc.rights info:eu-repo/semantics/closedAccess en_US
dc.scopus.citedbyCount 0
dc.subject bilateral control en_US
dc.subject biomedical robotics en_US
dc.subject micro-robotics en_US
dc.subject motion control en_US
dc.subject soft robotics en_US
dc.subject Bacteria en_US
dc.subject Brownian movement en_US
dc.subject Kinematics en_US
dc.subject Permanent magnets en_US
dc.subject Robotics en_US
dc.subject Bilateral control en_US
dc.subject Biological fluids en_US
dc.subject Biomedical robotics en_US
dc.subject Hydrodynamic interaction en_US
dc.subject Magnetotactic Bacteria en_US
dc.subject Micro robotics en_US
dc.subject Micro robots en_US
dc.subject Micro-swimmer en_US
dc.subject Random Walk en_US
dc.subject Soft robotics en_US
dc.subject Motion control en_US
dc.title Simulated Motion Control of a School of Microrobots With Random Walks en_US
dc.type Conference Object en_US
dspace.entity.type Publication
relation.isAuthorOfPublication 3d30911f-40a8-4afa-bc8c-216b9b699b9c
relation.isAuthorOfPublication.latestForDiscovery 3d30911f-40a8-4afa-bc8c-216b9b699b9c
relation.isOrgUnitOfPublication 01f3d407-6823-4ad3-8298-0b6a2a6e5cff
relation.isOrgUnitOfPublication.latestForDiscovery 01f3d407-6823-4ad3-8298-0b6a2a6e5cff

Files

Original bundle

Now showing 1 - 1 of 1
No Thumbnail Available
Name:
4972.pdf
Size:
1.83 MB
Format:
Adobe Portable Document Format
Description:
Tam Metin / Full Text