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Control of Self-Propelled Microjets Inside a Microchannel With Time-Varying Flow Rates

2014

Article

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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 mo- ment of the microjets is characterized using the U-turn and the rotating field techniques. The characterized magnetic dipole mo- ment has an average of 1.4 $\times$ 10 \textminus 13 A.m 2 at magnetic field, linear velocity, and boundary frequency of 2 mT, 100 $\mu$ m/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 mi- crochannel with a width of 500 $\mu$ m. 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 $\mu$ m/s and 390 $\mu$ m, 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 $\mu$ m/s and 600 $\mu$ m and 120 $\mu$ m/s and 600 $\mu$ m when a flow rate of 2.5 $\mu$ l/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 $\mu$ l/min) to characterize the motion of the microjets inside the microchannel

Author(s): Magdanz, V. and Sanchez, S. and Schmidt, O. G. and Khalil, I. S. M and Misra, S.
Journal: IEEE Transactions on Robotics and Automation
Pages: 49--58
Year: 2014
Publisher: IEEE

Department(s): Theory of Inhomogeneous Condensed Matter
Bibtex Type: Article (article)

Address: New York, NY
DOI: 10.1109/TRO.2013.2283929
Language: eng

BibTex

@article{escidoc:2125578,
  title = {Control of Self-Propelled Microjets Inside a Microchannel With Time-Varying Flow Rates},
  author = {Magdanz, V. and Sanchez, S. and Schmidt, O. G. and Khalil, I. S. M and Misra, S.},
  journal = {IEEE Transactions on Robotics and Automation},
  pages = {49--58},
  publisher = {IEEE},
  address = {New York, NY},
  year = {2014}
}