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Magnetotactic bacteria have the potential to controllably reach stagnant fluids inside the human body and achieve targeted drug delivery. In this application, motion of the magnetotactic bacteria is influenced by the near-surface effects such as the background flows and surface interactions. Here, we provide a hydrodynamic model of bipolarly-flagellated magnetotactic bacteria (Magnetospirillum gryphiswaldense...
The risk of side effects from thrombolytic agents can be minimized by using smaller doses, assisted by mechanical rubbing against blood clots using helical robots. Quantifying this observation, we study the influence of rubbing against clots on their removal rate in vitro. First, we present a hydrodynamic model of the helical robot based on the resistive-force theory to investigate the rubbing behavior...
We control the motion of paramagnetic microparticles with average diameter of 100 µm inside microfluidic channels against and along time-varying flow rates. The drag force and the force due to time-varying flow rate are modeled as time-varying disturbance force. This force is estimated using a disturbance force observer and compensated using a magnetic-based closed-loop control system. The closed-loop...
We use a cluster of paramagnetic microparticles to carry out a wireless two-dimensional microassembly operation. A magnetic-based manipulation system is used to control the motion of the cluster under the influence of the applied magnetic fields. Wireless motion control of the cluster is implemented at an average velocity and maximum position tracking error of 144 µm/s and 50 µm, respectively. This...
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