Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles

Magnetic manipulation of particles at close vicinity is a challenging task. In this paper, we propose simultaneous and independent manipulation of two identical particles at close vicinity using two mobile robotic electromagnetic needles. We developed a neural network that can predict the magnetic f...

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Bibliographic Details
Published in2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) pp. 1 - 6
Main Authors Isitman, Ogulcan, Kandemir, Hakan, Alcan, Gokhan, Cenev, Zoran, Zhou, Quan
Format Conference Proceeding
LanguageEnglish
Published IEEE 25.07.2022
Subjects
Magnetic flux density
Magnetic separation
Needles
Neural networks
Prediction algorithms
Predictive models
Trajectory
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Summary:Magnetic manipulation of particles at close vicinity is a challenging task. In this paper, we propose simultaneous and independent manipulation of two identical particles at close vicinity using two mobile robotic electromagnetic needles. We developed a neural network that can predict the magnetic flux density gradient for any given needle positions. Using the neural network, we developed a control algorithm to solve the optimal needle positions that generate the forces in the required directions while keeping a safe distance between the two needles and particles. We applied our method in five typical cases of simultaneous and independent microparticle manipulation, with the closest particle separation of 30 μm.
DOI:10.1109/MARSS55884.2022.9870468