TY - GEN
T1 - A Mobile Paramagnetic Nanoparticle Swarm with Automatic Shape Deformation Control
AU - Yang, Lidong
AU - Yu, Jiangfan
AU - Zhang, Li
N1 - Funding Information:
This work was supported by the RGC General Research Fund (GRF) with Project No. 14218516 funded by the Research Grants Council (RGC) of Hong Kong and the ITF project with Project No. MRP/036/18X funded by the HKSAR Innovation and Technology Commission (ITC), and The Chinese University of Hong Kong-Shanghai Jiao Tong University Joint Research Fund with Project No. 4750352.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85092689164&partnerID=8YFLogxK
U2 - 10.1109/ICRA40945.2020.9197010
DO - 10.1109/ICRA40945.2020.9197010
M3 - Conference article published in proceeding or book
AN - SCOPUS:85092689164
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 9230
EP - 9236
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -