Tek Mıknatıs aracığılı ile bir Manyetotaktik Bakterinin Adaptif Manevra Kontrolü için Bağımsız Eklem Kontrol Simulasyonları

Öz

Mikro robotik sistemlerin invaziv olmayan tıptaki muhtemel uygulamaları son on yıldır literatürde yoğun bir şekilde gösterilmektedir. Yayınlanan çalışmalar büyük oranda bilgisayar kontrollü bir harici elektromanyetik alan içerisinde hareket eden farklı tiplerdeki yapay veya biyo-hibrid mikro yüzücülerin performansına odaklanmıştır. Mikro yüzücülerin tamamen canlı doku içinde veya harici ortamlarda yüzme ve hareket kontrol performansı ile ilgili çalışmalar yaygındır, ancak biyo-hibrid bir mikro yüzücünün başka bir robot yardımı ile hareket kontrolü şu ana kadar literatürde hiç detaylı olarak gösterilmemiştir. Bu çalışmada, gerçek bir manyeto taktik bakteri hücresinin (Magnetospirillum Gryphiswaldens) belirli bir mesafeden hareket ve manevra kontrolünün simülasyonu yapılmıştır. Seçilen canlı hücrenin yüzme yönü, mıknatıs yerleştirilmiş bir robot kolunun hareketi ve bu mıknatısın manyetik alanı sonucu ortaya çıkan manyetik tork yardımı ile kontrol edilmektedir. Kontrol performansı, süreksiz fonsksiyon olarak tanımlanmış oryantasyon referansına karşın ortaya çıkan pozisyon takip hatasının oransal – integral – türev (PID) denetleyicisi yardımı ile minimize edilmesine dayanmaktadır. Ayrıca, integral katsayısı anlık hataya bağlı olarak değişecek şekilde, yani adaptif olarak, modellenmiştir. Tüm sistemin dinamik ve kinematik davranışı için nümerik çözümler zamana bağlı olarak gerçekleştirilmiştir. Hareket kontrol sisteminin performansı, mikro robotun düzlemsel hareketindeki her bir serbestlik derecesi için ayrı ayrı incelenmiştir. Simülasyon çalışmaları göstermektedir ki; bağımsız eklem kontrolü metodu ile hareket ettirilen düzlemsel bir robot kol, aynı anda canlı hücrenin düz bir katı yüzeyine yakın olarak hareketini takip ederken, yüzme yönünü tayin etmek için de başarılı bir şekilde kullanılabilir. Ayrıca, yapılan simülasyonlar, manyetik alandaki efektif atalet ve mikro robot üzerinde hissedilen sıvı direncinin kontrol reaksiyonunda küçük fakat hissedilir bir gecikmeye neden olduğuna işaret etmektedir.

Anahtar Kelimeler

• Mikro robotlar
• Hareket Kontrolü
• Biyo Hibrid Sistemler

Independent Joint Control Simulations on Adaptive Maneuvering of a Magnetotactic Bacterium via a Single Permanent Magnet

Abstract

The use of micro-robotic systems in non-invasive medicine has been heavily promoted in the literature for the last decade. The studies usually focus on artificial or biohybrid microswimmers of various origins subject to the effect of an external electromagnetic field controlled by a computer. Although there exist several motion control studies shared to date, control of a bio-hybrid microswimmer has rarely been demonstrated employing an open kinematic chain, in detail. In this work, motion control of an isolated magnetotactic bacterium cell (Magnetospirillum Gryphiswaldens) is presented via a magnetic field actively positioned by an open kinematic chain. The cell is modeled with its complete environment to make it as realistic as possible along with the magnetic torque, which is induced by a single magnet attached at the end effector of a robotic arm, exerted on it for maneuvering control. The control is based on a proportional – integral – derivative (PID) gain scheme with adaptive integral gain to focus on a particular steady-state error with discontinuous reference signals. The control signal is transformed into pulse width modulation (PWM) signals to drive the motors articulating the joints of the open kinematic chain, the inverse kinematics of which is designed to be simple enough to achieve independent joint control. A numerical analysis of the coupled system is carried out in the time domain. The performance of the said motion control approach is investigated for each degree of freedom for the planar motion of the microswimmer. Simulations demonstrate a planar open kinematic chain is capable of control the gait of the microswimmer while following its trajectory near a planar boundary via independent joint control. Furthermore, simulations demonstrate that the effective magnetic inertia and the shear stress results in a small but certain lag in the motion control performance of the overall system.

Keywords

• Microrobots
• Motion Control
• Bio-hybrid Systems

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