Bilateral control simulations for a pair of magnetically-coupled robotic arm and bacterium for in vivo applications

There are several in vivo and in vitro control performances with artificial micro-swimmers; however, control of a biohybrid micro-swimmer using an open kinematic chain remains fairly untouched to this date. In this work, non-contact maneuvering control of a single magnetotactic bacterium cell is sim...

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Bibliographic Details
Published in:Journal of micro-bio robotics 2020-12, Vol.16 (2), p.199-214
Main Author: Tabak, Ahmet Fatih
Format: Article
Language:English
Subjects:
Adaptive control
Bacteria
Control theory
Electronics and Microelectronics
Engineering
Instrumentation
Machines
Manufacturing
Nanotechnology
Physical properties
Processes
Proportional integral derivative
Research Paper
Robot arms
Robotics and Automation
Simulation
Swimming
Synovial joints
Time dependence
Yaw
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Summary:There are several in vivo and in vitro control performances with artificial micro-swimmers; however, control of a biohybrid micro-swimmer using an open kinematic chain remains fairly untouched to this date. In this work, non-contact maneuvering control of a single magnetotactic bacterium cell is simulated under in vivo conditions of a synovial joint with associated physical properties of the respective synovial cavity. A very detailed mathematical model representing in vivo swimming conditions of an actual bacterium cell is built followed by a PID control scheme with adaptive integral gains. The performance of the control law is presented with the help of time-dependent errors to different yaw-angle references accompanied by the time-dependent states of the coupled system. The results show that the proposed control law is capable of adjusting the heading, i.e., yaw-angle, of the simulated magnetotactic bacterium species, i.e., Magnetospirillum Gryphiswaldense , moving at proximity to a curved surface, i.e., the inner surface of the synovial joint in a Homo sapiens . The results further demonstrate that it is possible to achieve set-point tracking against both constant and time-dependent references.
ISSN:2194-6418
2194-6426
DOI:10.1007/s12213-020-00138-z