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Model-based adaptive locomotion and clustering control of microparticles through ultrasonic topological charge modulation

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Abstract

We present a novel motion control technique for microrobot clusters to exploit the characteristics of the ultrasonic field. The method comprises two steps, i.e., introducing an ultrasonic actuation (UA) linear model for three-dimensional (3D) locomotion and controlling the topological charge (TC) in the ultrasonic vortex for microrobot clustering. Here, the TC is a controllable parameter for the expansion and contraction of the pressure null space inside the vortex. We present a TC control method to cluster sporadically distributed microrobots in a specific workspace. To validate the concept, a UA system composed of 30 ultrasonic transducers with 1 MHz frequency is fabricated, and the characteristics of the generated acoustic pressure field are analyzed through simulations. Subsequently, the performances of the adaptive controller for precise 3D locomotion and the TC control method for clustering are evaluated. Finally, the UA technology, which performs both clustering and locomotion in a complex manner, is validated with a gelatin phantom in an in-vitro environment.

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Funding

Project supported by the Korea Health Technology Development R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare, Republic of Korea (No. HI19C0642) and the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2023R1A2C2003086)

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Authors and Affiliations

  1. School of Mechanical Engineering, Chonnam National University, Gwangju, 61186, South Korea

    H. S. Lee, H. X. Cao & C. S. Kim

  2. Korea Institute of Medical Microrobotics, Gwangju, 61011, South Korea

    D. Jung

Authors
  1. H. S. Lee
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  2. H. X. Cao
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  3. D. Jung
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  4. C. S. Kim
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Correspondence to C. S. Kim.

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Lee, H.S., Cao, H.X., Jung, D. et al. Model-based adaptive locomotion and clustering control of microparticles through ultrasonic topological charge modulation. Appl. Math. Mech.-Engl. Ed. 44, 623–640 (2023). https://doi.org/10.1007/s10483-023-2973-9

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  • DOI: https://doi.org/10.1007/s10483-023-2973-9

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