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

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Abstract

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.

Original languageEnglish
Title of host publicationProceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales
EditorsSinan Haliyo, Mokrane Boudaoud, Eric Diller, Xinyu Liu, Yu Sun, Sergej Fatikow
PublisherIEEE
ISBN (Electronic)978-1-6654-5973-0
DOIs
Publication statusPublished - 2022
MoE publication typeA4 Conference publication
EventInternational Conference on Manipulation, Automation and Robotics at Small Scales - Toronto, Canada
Duration: 25 Jul 202229 Jul 2022

Publication series

NameProceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales

Conference

ConferenceInternational Conference on Manipulation, Automation and Robotics at Small Scales
Abbreviated titleMARSS
Country/TerritoryCanada
CityToronto
Period25/07/202229/07/2022

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