NDLI: Biosensing and actuation for microbiorobots

Content Provider	IEEE Xplore Digital Library
Author	Sakar, M.S. Steager, E.B. Julius, A.A. MinJun Kim Kumar, V. Pappas, G.J.
Copyright Year	2010
Description	Author affiliation: Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, U.S.A. (Julius, A.A.) \|\| GRASP Laboratory, School of Engineering and Applied Sciences, University of Pennsylvania, Philadelphia, 19104, U.S.A. (Sakar, M.S.; Steager, E.B.; Kumar, V.; Pappas, G.J.) \|\| Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA 19104, U.S.A. (MinJun Kim)
Abstract	In this paper, we describe how signaling networks and actuation in bacterial cells and biomolecular networks of bacteria can be used to develop an integrated micro-bio-robotic system. SU8 microstructures blotted with swarmer cells of Serratia Marcescens in a monolayer are propelled by the bacteria in the absence of any environmental stimulus. We call such microstructures with bacteria Micro Bio Robots (MBRs) and the uncontrolled motion in the absence of stimuli self actuation. Our paper has two primary contributions. First, we demonstrate the control of MBRs using self-actuation, DC electric fields and ultra-violet radiation, and develop experimentally validated mathematical model for the MBRs. This model allows us to use self-actuation and electrokinetic actuation to steer the MBR to any position and orientation in a planar micro channel. Second, we describe the development of biosensors for the MBRs. This is done by attaching genetically engineered Escherichia coli cells that are capable of sensing nonmetabolizable lactose analog methyl-β-D-thiogalactoside (TMG). We describe the fabrication process for MBRs and show experimental results demonstrating sensing, actuation and control.
Starting Page	3141
Ending Page	3146
File Size	1672172
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509528
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biosensors Microorganisms Microstructure Propulsion Robots Mathematical model Electrokinetics Joining processes Genetic engineering Fabrication biosensing microactuation biological systems flagellated bacteria micromanipulation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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