Millimeter-scale magnetic swimmers using elastomeric undulations

Jiachen Zhang; Eric Diller

doi:10.1109/IROS.2015.7353597

Millimeter-scale magnetic swimmers using elastomeric undulations

Jiachen Zhang
, Eric Diller

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

26 Citations (Scopus)

Abstract

This paper presents a new soft-bodied millimeterscale swimmer actuated by rotating uniform magnetic fields. The proposed swimmer moves through internal undulatory deformations, resulting from a magnetization profile programmed into its body. To understand the motion of the swimmer, a mathematical model is developed to describe the general relationship between the deflection of a flexible strip and its magnetization profile. As a special case, the situation of the swimmer on the water surface is analyzed and predictions made by the model are experimentally verified. Experimental results show the controllability of the proposed swimmer under a computer vision-based closed-loop controller. The swimmers have nominal dimensions of 1.5×4.9×0.06 mm and a top speed of 50 mm/s (10 body lengths per second). Waypoint following and multiagent control are demonstrated for swimmers constrained at the air-water interface and underwater swimming is also shown, suggesting the promising potential of this type of swimmer in biomedical and microfluidic applications.

Original language	English
Title of host publication	IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	1706-1711
Volume	2015-December
ISBN (Print)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353597
Publication status	Published - 11 Dec 2015
Externally published	Yes
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 http://www.iros2015.org

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Place	Germany
City	Hamburg
Period	28/09/15 → 2/10/15
Internet address	http://www.iros2015.org

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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10.1109/IROS.2015.7353597

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Zhang, J., & Diller, E. (2015). Millimeter-scale magnetic swimmers using elastomeric undulations. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 1706-1711). Article 7353597 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). IEEE. https://doi.org/10.1109/IROS.2015.7353597

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title = "Millimeter-scale magnetic swimmers using elastomeric undulations",

abstract = "This paper presents a new soft-bodied millimeterscale swimmer actuated by rotating uniform magnetic fields. The proposed swimmer moves through internal undulatory deformations, resulting from a magnetization profile programmed into its body. To understand the motion of the swimmer, a mathematical model is developed to describe the general relationship between the deflection of a flexible strip and its magnetization profile. As a special case, the situation of the swimmer on the water surface is analyzed and predictions made by the model are experimentally verified. Experimental results show the controllability of the proposed swimmer under a computer vision-based closed-loop controller. The swimmers have nominal dimensions of 1.5×4.9×0.06 mm and a top speed of 50 mm/s (10 body lengths per second). Waypoint following and multiagent control are demonstrated for swimmers constrained at the air-water interface and underwater swimming is also shown, suggesting the promising potential of this type of swimmer in biomedical and microfluidic applications.",

author = "Jiachen Zhang and Eric Diller",

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doi = "10.1109/IROS.2015.7353597",

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Zhang, J & Diller, E 2015, Millimeter-scale magnetic swimmers using elastomeric undulations. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2015-December, 7353597, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, IEEE, pp. 1706-1711, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353597

Millimeter-scale magnetic swimmers using elastomeric undulations. / Zhang, Jiachen; Diller, Eric.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2015-December IEEE, 2015. p. 1706-1711 7353597 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Millimeter-scale magnetic swimmers using elastomeric undulations

AU - Zhang, Jiachen

AU - Diller, Eric

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2015/12/11

Y1 - 2015/12/11

N2 - This paper presents a new soft-bodied millimeterscale swimmer actuated by rotating uniform magnetic fields. The proposed swimmer moves through internal undulatory deformations, resulting from a magnetization profile programmed into its body. To understand the motion of the swimmer, a mathematical model is developed to describe the general relationship between the deflection of a flexible strip and its magnetization profile. As a special case, the situation of the swimmer on the water surface is analyzed and predictions made by the model are experimentally verified. Experimental results show the controllability of the proposed swimmer under a computer vision-based closed-loop controller. The swimmers have nominal dimensions of 1.5×4.9×0.06 mm and a top speed of 50 mm/s (10 body lengths per second). Waypoint following and multiagent control are demonstrated for swimmers constrained at the air-water interface and underwater swimming is also shown, suggesting the promising potential of this type of swimmer in biomedical and microfluidic applications.

AB - This paper presents a new soft-bodied millimeterscale swimmer actuated by rotating uniform magnetic fields. The proposed swimmer moves through internal undulatory deformations, resulting from a magnetization profile programmed into its body. To understand the motion of the swimmer, a mathematical model is developed to describe the general relationship between the deflection of a flexible strip and its magnetization profile. As a special case, the situation of the swimmer on the water surface is analyzed and predictions made by the model are experimentally verified. Experimental results show the controllability of the proposed swimmer under a computer vision-based closed-loop controller. The swimmers have nominal dimensions of 1.5×4.9×0.06 mm and a top speed of 50 mm/s (10 body lengths per second). Waypoint following and multiagent control are demonstrated for swimmers constrained at the air-water interface and underwater swimming is also shown, suggesting the promising potential of this type of swimmer in biomedical and microfluidic applications.

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DO - 10.1109/IROS.2015.7353597

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781479999941

VL - 2015-December

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 1706

EP - 1711

BT - IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

Y2 - 28 September 2015 through 2 October 2015

ER -

Millimeter-scale magnetic swimmers using elastomeric undulations

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