Model-based adaptive locomotion and clustering control of microparticles through ultrasonic topological charge modulation

doi:10.1007/s10483-023-2973-9

Applied Mathematics and Mechanics (English Edition) ›› 2023, Vol. 44 ›› Issue (4): 623-640.doi: https://doi.org/10.1007/s10483-023-2973-9

Model-based adaptive locomotion and clustering control of microparticles through ultrasonic topological charge modulation

H. S. LEE¹, H. X. CAO¹, D. JUNG², C. S. KIM¹

1. School of Mechanical Engineering, Chonnam National University, Gwangju 61186, South Korea;
2. Korea Institute of Medical Microrobotics, Gwangju 61011, South Korea

收稿日期:2022-09-07 修回日期:2023-01-19 发布日期:2023-03-30
通讯作者: C. S. KIM, E-mail: ckim@jnu.ac.kr
基金资助:
Korea Health Technology Development R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare, Republic of Korea (No. HI19C0642) and the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2023R1A2C2003086)

Model-based adaptive locomotion and clustering control of microparticles through ultrasonic topological charge modulation

H. S. LEE¹, H. X. CAO¹, D. JUNG², C. S. KIM¹

1. School of Mechanical Engineering, Chonnam National University, Gwangju 61186, South Korea;
2. Korea Institute of Medical Microrobotics, Gwangju 61011, South Korea

Received:2022-09-07 Revised:2023-01-19 Published:2023-03-30
Contact: C. S. KIM, E-mail: ckim@jnu.ac.kr
Supported by:
Korea Health Technology Development R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare, Republic of Korea (No. HI19C0642) and the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2023R1A2C2003086)

摘要/Abstract

摘要： We present a novel motion control technique for microrobot clusters to exploit the characteristics of the ultrasonic field. The method comprises two steps, i.e., introducing an ultrasonic actuation (UA) linear model for three-dimensional (3D) locomotion and controlling the topological charge (TC) in the ultrasonic vortex for microrobot clustering. Here, the TC is a controllable parameter for the expansion and contraction of the pressure null space inside the vortex. We present a TC control method to cluster sporadically distributed microrobots in a specific workspace. To validate the concept, a UA system composed of 30 ultrasonic transducers with 1 MHz frequency is fabricated, and the characteristics of the generated acoustic pressure field are analyzed through simulations. Subsequently, the performances of the adaptive controller for precise 3D locomotion and the TC control method for clustering are evaluated. Finally, the UA technology, which performs both clustering and locomotion in a complex manner, is validated with a gelatin phantom in an in-vitro environment.

关键词: ultrasonic actuation (UA), topological charge (TC), adaptive control, particle manipulation

Abstract: We present a novel motion control technique for microrobot clusters to exploit the characteristics of the ultrasonic field. The method comprises two steps, i.e., introducing an ultrasonic actuation (UA) linear model for three-dimensional (3D) locomotion and controlling the topological charge (TC) in the ultrasonic vortex for microrobot clustering. Here, the TC is a controllable parameter for the expansion and contraction of the pressure null space inside the vortex. We present a TC control method to cluster sporadically distributed microrobots in a specific workspace. To validate the concept, a UA system composed of 30 ultrasonic transducers with 1 MHz frequency is fabricated, and the characteristics of the generated acoustic pressure field are analyzed through simulations. Subsequently, the performances of the adaptive controller for precise 3D locomotion and the TC control method for clustering are evaluated. Finally, the UA technology, which performs both clustering and locomotion in a complex manner, is validated with a gelatin phantom in an in-vitro environment.

Key words: ultrasonic actuation (UA), topological charge (TC), adaptive control, particle manipulation

中图分类号:

70Q05

H. S. LEE, H. X. CAO, D. JUNG, C. S. KIM. Model-based adaptive locomotion and clustering control of microparticles through ultrasonic topological charge modulation[J]. Applied Mathematics and Mechanics (English Edition), 2023, 44(4): 623-640.

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Model-based adaptive locomotion and clustering control of microparticles through ultrasonic topological charge modulation

Model-based adaptive locomotion and clustering control of microparticles through ultrasonic topological charge modulation

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