A Mobile Paramagnetic Nanoparticle Swarm with Automatic Shape Deformation Control

Lidong Yang, Jiangfan Yu, Li Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

8 Citations (Scopus)

Abstract

Recently, swarm control of micro-/nanorobots has drawn much attention in the field of microrobotics. This paper reports a mobile paramagnetic nanoparticle swarm with the capability of active shape deformation that can improve its environment adaptability. We show that, by applying elliptical rotating magnetic fields, a swarm pattern called the elliptical paramagnetic nanoparticle swarm (EPNS) would be formed. When changing the field ratio-α (i.e. the strength ratio between the minor axis and major axis of the elliptical field), the shape ratio-β of the EPNS (i.e. the length ratio between the major axis and minor axis) will change accordingly. However, automatically control this shape deformation process has difficulties because the deformation dynamics has strong nonlinearity, model variation and long time requirement. To solve this problem, we propose a fuzzy logic-based control scheme that utilizes the knowledge and control experience from skilled human operators. Experiments show that the proposed control scheme can stably maneuver the shape deformation of the EPNS with small overshoot, which cannot be achieved by conventional PI control. Moreover, experimental results show that, with the automatic shape deformation control, shape of the EPNS is controlled with high reversibility and also can be well maintained during the planar rotational and translational locomotion of the EPNS.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9230-9236
Number of pages7
ISBN (Electronic)9781728173955
DOIs
Publication statusPublished - May 2020
Externally publishedYes
Event2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France
Duration: 31 May 202031 Aug 2020

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Country/TerritoryFrance
CityParis
Period31/05/2031/08/20

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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