NDLI: Motion control of Tetrahymena pyriformis cells with artificial magnetotaxis: Model Predictive Control (MPC) approach

Content Provider	IEEE Xplore Digital Library
Author	Yan Ou Dal Hyung Kim Kim, P. Min Jun Kim Julius, A.A.
Copyright Year	2012
Description	Author affiliation: Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA 19104, USA (Dal Hyung Kim; Kim, P.; Min Jun Kim) \|\| Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA (Yan Ou; Julius, A.A.)
Abstract	The use of live microbial cells as microscale robots is an attractive premise, primarily because they are easy to produce and to fuel. In this paper, we study the motion control of magnetotactic Tetrahymena pyriformis cells. Magnetotactic T. pyriformis is produced by introducing artificial magnetic dipole into the cells. Subsequently, they can be steered by using an external magnetic field. We observe that the external magnetic field can only be used to affect the swimming direction of the cells, while the swimming velocity depends largely on the cells' own propulsion. Feedback information for control is obtained from a computer vision system that tracks the cell. The contribution of this paper is twofold. First, we construct a discrete-time model for the cell dynamics that is based on first principle. Subsequently, we identify the model parameters using the Least Squares approach. Second, we formulate a model predictive approach for feedback control of magnetotactic T. pyriformis. Both the model fitness and the performance of the feedback controller are verified using experimental data.
Starting Page	2492
Ending Page	2497
File Size	601870
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225015
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetic resonance imaging Saturation magnetization Mathematical model Magnetic materials Photonic crystals Equations Modeling Tetrahymena pyriformis magnetotaxis microrobots model predictive control motion control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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