Navigation of mini swimmers in channel networks with magnetic fields

Warning The system is temporarily closed to updates for reporting purpose.

Temel, Fatma Zeynep and Bezer, Ayşe Ecem and Yeşilyurt, Serhat (2013) Navigation of mini swimmers in channel networks with magnetic fields. In: IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany

This is the latest version of this item.

[thumbnail of Temel_Bezer_Yesilyurt_ICRA13.pdf] PDF
Temel_Bezer_Yesilyurt_ICRA13.pdf

Download (1MB)

Abstract

Controlled navigation of swimming micro robots inside fluid filled channels is necessary for applications in living tissues and vessels. Hydrodynamic behavior inside channels and interaction with channel walls need to be understood well for successful design and control of these surgical-tools-to-be. In this study, two different mechanisms are used for forward and lateral motion: rotation of helices in the direction of the helical axis leads to forward motion in the viscous fluid, and rolling due to wall traction results with the lateral motion near the wall. Experiments are conducted using a magnetic helical swimmer having 1.5 mm in length and 0.5 mm in diameter placed inside two different glycerol-filled channels with rectangular cross sections. The strength, direction and rotational frequency of the externally applied rotating magnetic field are used as inputs to control the position and direction of the micro swimmer in Y- and T-shaped channels.
Item Type: Papers in Conference Proceedings
Uncontrolled Keywords: Swimming micro robots, magnetic actuation, medical robotics, wall effects, controlled navigation in channels
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
R Medicine > R Medicine (General) > R855-855.5 Medical technology
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Sabancı University Nanotechnology Research and Application Center
Faculty of Engineering and Natural Sciences
Depositing User: Fatma Zeynep Temel
Date Deposited: 08 Oct 2013 16:11
Last Modified: 26 Apr 2022 09:10
URI: https://research.sabanciuniv.edu/id/eprint/21734

Available Versions of this Item

Actions (login required)

View Item
View Item