Evaluation and suppression of overrun of microorganisms using dynamics model for microrobotic application

Naoko Ogawa, Hiromasa Oku, Koichi Hashimoto, Masatoshi Ishikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Our goal is to utilize living microorganisms as smart, autonomous mi-crorobots. In previous work, we constructed a dynamics model of Paramecium cells for navigation using galvanotaxis (locomotion response to an applied electric field). In this paper, an overrun phenomenon, which affects the control performance, is evaluated using the proposed dynamics model, and it is found that the turning trajectory is independent of the individual ciliary forces. A trapping experiment based on this model is performed and better performance is achieved. This is an important step toward our eventual goal of using living cells as autonomous microrobots.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 9, IAS 2006
Pages1015-1024
Number of pages10
Publication statusPublished - 2006 Dec 1
Event9th International Conference on Intelligent Autonomous Systems, IAS 2006 - Tokyo, Japan
Duration: 2006 Mar 72006 Mar 9

Publication series

NameIntelligent Autonomous Systems 9, IAS 2006

Other

Other9th International Conference on Intelligent Autonomous Systems, IAS 2006
CountryJapan
CityTokyo
Period06/3/706/3/9

Keywords

  • Galvanotaxis
  • Microrobot
  • Model
  • Overrun
  • Paramecium
  • Trapping

ASJC Scopus subject areas

  • Computer Science(all)
  • Computational Mechanics
  • Control and Systems Engineering

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