This paper presents the Model Predictive Control (MPC) of magnetized Tetrahymena pyriformis (T. pyriformis) using a magnetic field. The magnetized T. pyriformis are generated by feeding spherical iron oxide particles into the cells. Using an external magnetic field, we change the movement direction of the cell, but the speed of the cell remains constant regardless of the strength of the external magnetic field. The contributions of this paper are threefold. First, the discrete-time plant model of the magnetized cell is generated using the least-squares method. Second, using the model of each cell, they are controlled to follow a reference track by an external magnetic field with MPC. Third, by using a predictor-like scheme to execute the plant input before the measurement of the cell position, we successfully solve the image-processing delay problem in the feedback system. In our results, we show three comparisons between different control schemes and an initial tracking to prove the effectiveness of the control approach.
AbbottJNagyZBeyelerFNelsonB (2007) Robotics in the small, part I: microbotics. IEEE Robotics & Automation Magazine14(2): 92–103.
2.
AsadaHHWangYMayaluMN (2011) Molecular signaling observer and predictor: A framework for closed-loop control of cell behaviors having long time delay. In: 2011 american control conference, San Francisco, USA, 29 June – 1 July 2011, pp. 2314–2319. Piscataway: IEEE Press.
3.
BishopCM (2006) Pattern Recognition and Machine Learning. New York: Springer-Verlag.
4.
CarlosEGDavidMPManfredM (1989) Model predictive control: theory and practice–a survey. Automatica25(3): 335–348.
5.
DonaldBRLeveyCGPaprotnyI (2008) Planar microassembly by parallel actuation of MEMS microrobots. Journal of Microelectromechanical Systems17(4): 789–808.
6.
FearingRS (1991) Control of a micro-organism as a prototype micro-robot. In: 2nd international symposium on micromachines and human sciences, Nagoya, Japan, 8–9 October 1991.
7.
HunterIWLafontaineSNielsenPMFHunterPJHollerbachJM (1990) Manipulation and dynamic mechanical testing of microscopic objects using a tele-micro-robot system. IEEE Control Systems Magazine10(2): 3–9.
ItohA (2000) Motion control of protozoa for bio-MEMS. IEEE/ASME Transactions on Mechatronics5(2): 181–188.
10.
ItohATamuraWMishimaT (2005) Motion control of euglena group by weak laser scanning system and object manipulation using euglena group. In: IEEE/ASME international conference on advanced intelligent mechatronics, Monterey, California, USA, 24–28 July 2005, pp. 43–47. Piscataway: IEEE Press.
11.
ItohAToidaH (2001) Control of bioconvection and its mechanical application. In: IEEE/ASME international conference on advanced intelligent mechatronics, Como, Italy, 8–12 July 2001, vol. 2, pp. 1220–1225. Piscataway: IEEE Press.
12.
JuliusAASakarMSSteagerECheangUKKimMJKumarV. (2009) Harnessing bacterial power in microscale actuation. In: IEEE international conference on robotics and automation (ICRA ‘09), Kobe, Japan, 12–17 May 2009, pp. 1004–1009. Piscataway: IEEE Press.
13.
KimDHBrigandiSJuliusAAKimMJ (2011) Real-time feedback control using artificial magnetotaxis with rapidly-exploring random tree (RRT) for Tetrahymena pyriformis as a microbiorobot. In: IEEE international conference on robotics and automation (ICRA ‘11), Shanghai, China, 9–13 May 2011, pp. 3183–3188. Piscataway: IEEE Press.
14.
KimDHCasaleDKöhidaiLKimMJ (2009) Galvanotactic and phototactic control of Tetrahymena pyriformis as a microfluidic workhorse. Applied Physics Letters94(16): 163901.
15.
KimDHCheangUKKöhidaiLByunDKimMJ (2010) Artificial magnetotactic motion control of Tetrahymena pyriformis using ferromagnetic nanoparticles: A tool for fabrication of microbiorobots. Applied Physics Letters97(17): 173702.
16.
LiSZhangYZhuQ (2005) Nash-optimization enhanced distributed model predictive control applied to the Shell benchmark problem. Information Sciences170(2–4): 329–349.
17.
LynchSBequetteB (2002) Model predictive control of blood glucose in type I diabetics using subcutaneous glucose measurements. In: 2002 american control conference, Anchorage, Alaska, USA, 8–10 May 2002, vol. 5, pp. 4039–4043. Piscataway: IEEE Press.
18.
MartelS (2006) Targeted delivery of therapeutic agents with controlled bacterial carriers in the human blood vessels. In: 2006 bio micro and nanosystems conference (BMN ‘06), Montreal, Canada, 15–18 January 2006, p. 9. Piscataway: IEEE Press.
19.
MartelSMohammadiMFelfoulOZhaoLPouponneauP (2009) Flagellated magnetotactic bacteria as controlled MRI-trackable propulsion and steering systems for medical nanorobots operating in the human microvasculature. International Journal of Robotics Research28(4): 571–582.
20.
MartelSTremblayCCNgakengSLangloisG (2006) Controlled manipulation and actuation of micro-objects with magnetotactic bacteria. Applied Physics Letters89(23): 233904.
21.
MuskeKRRawlingsJB (1993) Model predictive control with linear models. AIChE Journal39: 262–287.
22.
NygaardGNævdalG (2006) Nonlinear model predictive control scheme for stabilizing annulus pressure during oil well drilling. Journal of Process Control16(7): 719–732.
23.
OuYKimDHKimPKimMJJuliusAA (2012) Motion control of Tetrahymena pyriformis cells with artificial magnetotaxis: model predictive control (MPC) approach. In: IEEE international conference on robotics and automation (ICRA ‘12), St. Paul, USA, 14–18 May 2012, pp. 2492–2497. Piscataway: IEEE Press.
24.
PawasheCFloydSSittiM (2009) Multiple magnetic microrobot control using electrostatic anchoring. Applied Physics Letters94(16): 164108.
25.
PoignetPGautierM (2000) Nonlinear model predictive control of a robot manipulator. In: 6th international workshop on advanced motion control, Nagoya, Japan, 30 March – 1 April 2000, pp. 401–406. Piscataway: IEEE Press.
26.
RifkinJLBallentineR (1976) Magnetic fettering of the ciliated protozoon Tetrahymena pyriformis. Transactions of the American Microscopical Society95(2): 189–197.
27.
SakarMSSteagerEBKimDHKimMJPappasGJKumarV (2010) Single cell manipulation using ferromagnetic composite microtransporters. Applied Physics Letters96(4): 043705.
28.
SteagerEBSakarMSKimDHKumarVPappasGJKimMJ (2011) Electrokinetic and optical control of bacterial microrobots. Journal of Micromechanics and Microengineering21(3): 035001.
29.
WangQBoyerKL (2012) The active geometric shape model: A new robust deformable shape model and its applications. Computer Vision and Image Understanding116(12): 1178–1194.
30.
WangQOuYJuliusAABoyerKLKimMJ (2012) Tracking Tetrahymena Pyriformis cells using decision trees. In: 21st international conference on pattern recognition, Tsukuba, Japan, 11–15 November 2012.
31.
WeibelDBGarsteckiRRyanDDiLuzioWRMayerMSetoJE. (2005) Microoxen: microorganisms to move microscale loads. Proceedings of the National Academy of Sciences102(34): 11963–11967.
32.
YiTHuangYSimonMIDoyleJ (2000) Robust perfect adaptation in bacterial chemotaxis through integral feedback control. Proceedings of the National Academy of Sciences97(9): 4649–4653.
33.
ZhangLAbbottJJDongLKratochvilBEZhangHPeyerKE. (2009) Micromanipulation using artificial bacterial flagella. In: IEEE/RSJ international conference on intelligent robots and systems (IROS ‘09), St. Louis, USA, 11–15 October 2009, pp. 1401–1406. Piscataway: IEEE Press.
