Title :
Automated manipulation of magnetic micro beads with electromagnetic coil system
Author :
Weicheng Ma ; Fuzhou Niu ; Xiangpeng Li ; Haibo Ji ; Jie Yang ; Dong Sun
Author_Institution :
Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China
Abstract :
Magnetic manipulation of micro particles has exhibited a great potential in clinical applications due to its non-invasive feature. The demand for precise motion control with high throughput highlights the necessity of bringing the automation technology to this important area. In this paper, we attempt to use an electromagnetic coil system for achieving automated manipulation of micro beads. Utilizing visual position feedback, a closed-loop control law based on input-to-state stability and backstepping is proposed, which guarantees that the bead can successfully follow the desired trajectory in three dimensions while maintaining stability of the overall system.
Keywords :
biocontrol; biomagnetism; closed loop systems; coils; feedback; magnetic particles; micromagnetics; micromanipulators; micropositioning; motion control; trajectory control; automated manipulation; automation technology; backstepping; closed-loop control law; electromagnetic coil system; input-to-state stability; magnetic microbeads; microparticles; noninvasive feature; precise motion control; visual position feedback; Coils; Electromagnetics; Magnetic forces; Micromagnetics; Robots; Stability analysis; Trajectory; Micromanipulation; automated control; backstepping; electromagnetic coil system; input-to-state stability;
Conference_Titel :
Nano/Molecular Medicine and Engineering (NANOMED), 2013 IEEE 7th International Conference on
Conference_Location :
Phuket
Print_ISBN :
978-1-4799-2689-3
DOI :
10.1109/NANOMED.2013.6766314
