Süreksiz Referans Sinyalleri ile İnsan Sinovyal Sıvısında Birden Fazla Biyohibrit Mikrorobotun Hareket Kontrolü için Benzetim Çalışmaları

Öz

Gelecekte mikro robotik sürülerin medikal operasyonlar için kullanılması öngörülmektedir. Canlı dokuda tek bir mikro robotun kullanılması, sınırlı hacim nedeniyle pratik değildir. Ancak, kalabalık bir mikro robot grubu, hedeflenen dokuya yararlı miktarda faydalı kimyasallar iletebilir. Bu simülasyon çalışmasında, bir görev gücü olarak seçilen üç manyetotaktik bakterinin (Magnetospirillum Gryphiswaldense MSR-1) harici bir manyetik alan aracılığıyla adaptif mikro-hareket kontrol performansı araştırılmıştır. Manyetik alan, üç serbestlik dereceli açık bir kinematik zincir tarafından konumlandırılan tek bir doğal Neodimyum mıknatıs yardımı ile oluşturulur. Açık kinematik zincirin her ekseninde adanmış bir doğru akım (DC) motoru bulunmaktadır. İnsan sinovyal ekleminde hareket eden bu küçük bakteri grubunun katı cisim dinamikleri, sinovyal sıvının gerçek manyetik ve akışkan özellikleri üzerinden simüle edilir. Mikro robotların ortak kütle merkezi, hareket denklemi ile izlenir. Üç bakteri arasında hareket sırasında ortaya çıkan çapraz hidrodinamik etkileşim, sinovyal sıvı sınırları içinde modellenmiştir. Ortaya çıkan sistem dinamiklerinin üstüne çift yanlı bir adaptif kontrol yaklaşımı ile referans sinyali uygulanmaktadır. Ortak kütle merkezinin konumu, açık kinematik zincirin uç efektörüne referans noktası olarak geri beslenmektedir. Manyetik alanın yönü, bakteri grubunun yönünü adreslenebilir bir şekilde değiştirmek için kullanılmaktadır. Üç bakteriden oluşan bu görev gücünün ortak yüzme yönünü, sinovyal sıvı içerisinde ayrık kontrol sinyalleri ve adaptif kontrol çalışması ile idare etmenin kısmen mümkün olduğu, farklı referans fonksiyonları yardımı ile, sayısal olarak gözlenmiştir. Sonuçlar, üç bakteriden oluşan bu robotik görev gücünün katı cisim hareketi ile bakterilere etki eden akışkan ve manyetik kuvvet bileşenlerinin yanı sıra tüm eksenlerdeki çift yanlı kontrol çabasıyla, yani üretilen kontrol sinyalleri ve DC motorlara uygulanan voltaj değerleri ile birlikte, sunulmuştur.

Anahtar Kelimeler

• Mikro-Hareket Kontrolü
• Sinovyal Sıvı
• Magnetotaktik Bakteri
• Çok Ölçekli Robotlar
• Çift Yanlı Kontrol
• Adaptif Kontrol

Simulation Studies for Motion Control of Multiple Biohybrid Microrobots in Human Synovial Fluid with Discontinuous Reference Signals

Öz

It is envisioned that biomedical swarms are going to be used for therapeutic operations in the future. The utilization of a single robot in live tissue is not practical because of the limited volume. In contrast, a large group of microrobots can deliver a useful amount of potent chemicals to the targeted tissue. In this simulation study, a trio of magnetotactic bacteria as a task-force, Magnetospirillum Gryphiswaldense MSR-1, is maneuvered via adaptive micro-motion control through an external magnetic field. The magnetic field is induced by a single permanent magnet positioned by an open kinematic chain. The coupled dynamics of this small group in the human synovial tissue is simulated with actual magnetic and fluidic properties of the synovial liquid. The common center of mass is tracked by the equation of motion. The overall hydrodynamic interaction amongst all three bacteria is modeled within a synovial medium confined with flat surfaces. A bilateral control scheme is implemented on top of this coupled model. The position of the common center of mass is used as the reference point to the end-effector of the robotic arm. The orientation of the magnetic field is rotated to change the heading of the bacterial-group in an addressable manner. It has been numerically observed that controlling the common swimming direction of multiple bacteria is fairly possible. Results are presented via the rigid-body motion of the robotic task-force as well as the fluidic and magnetic force-components acting on the bacteria along with the bilateral control effort in all axes.

Anahtar Kelimeler

• Micro-motion control
• Synovial Fluid
• Magnetotactic Bacterium
• Multiscale Robots
• Bilateral Control
• Adaptive Control

Kaynakça

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