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Journal Article

Control of Self-Propelled Microjets Inside a Microchannel With Time-Varying Flow Rates

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Sanchez,  S.
Dept. Theory of Inhomogeneous Condensed Matter, Max Planck Institute for Intelligent Systems, Max Planck Society;
Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research Dresden;

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Citation

Magdanz, V., Sanchez, S., Schmidt, O. G., Khalil, I. S. M., & Misra, S. (2014). Control of Self-Propelled Microjets Inside a Microchannel With Time-Varying Flow Rates. IEEE Transactions on Robotics and Automation, 49-58. doi:10.1109/TRO.2013.2283929.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0025-C329-D
Abstract
We demonstrate the closed-loop motion control of self-propelled microjets inside a fluidic microchannel. The motion control of the microjets is achieved in hydrogen peroxide solution with time-varying flow rates, under the influence of the controlled magnetic fields and the self-propulsion force. Magnetic dipole mo- ment of the microjets is characterized using the U-turn and the rotating field techniques. The characterized magnetic dipole mo- ment has an average of 1.4 × 10 − 13 A.m 2 at magnetic field, linear velocity, and boundary frequency of 2 mT, 100 μ m/s, and 25 rad/s, respectively. We implement a closed-loop control system that is based on the characterized magnetic dipole moment of the mi- crojets. This closed-loop control system positions the microjets by directing the magnetic field lines toward the reference position. Experiments are done using a magnetic system and a fluidic mi- crochannel with a width of 500 μ m. In the absence of a fluid flow, our control system positions the microjets at an average velocity and within an average region-of-convergence (ROC) of 119 μ m/s and 390 μ m, respectively. As a representative case, we observe that our control system positions the microjets at an average velocity and within an average ROC of 90 μ m/s and 600 μ m and 120 μ m/s and 600 μ m when a flow rate of 2.5 μ l/min is applied against and along the direction of the microjets, respectively. Furthermore, the average velocity and ROC are determined throughout the flow range (0 to 7.5 μ l/min) to characterize the motion of the microjets inside the microchannel