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Trajectory Planning and Control of Magnetotactic Bacteria Magnetotactic bacteria have the potential to execute nontrivial tasks, such as microactuation, micromanipulation, and microassembly, under the influence of the controlled magnetic fields. Closed-loop control characteristics of these magnetic microorganisms depend on their self-propulsion forces (motility) and magnetic dipole moments. These properties can be controlled through the growth conditions of magnetotactic bacteria. We provide a comparison between two species of magnetotactic bacteria, i.e., Magnetospirillum magnetotacticum strain MS-1 and Magnetospirillum magneticum strain AMB-1. This comparison includes the characterization of their morphologies, magnetic dipole moments, and closed-loop control characteristics in the transient and steady states. Objective In this project, we will focus on the motion control of magnetotactic bacteria inside fluidic chips with several bifurcations and channels. The ultimate goal of this project is to demonstrate the ability of the directional control using magnetic fields to move the bacteria towards a reference position along a pre-specified path. Tasks • Control of magnetotactic bacteria in a stationary medium; • Path planning and trajectory generation; • Demonstration of closed-loop control along a path inside a chip with several bifurcations. Materials • Capillary tubes have to be ordered (VitroCom, VitroTubes 3520-050, Mountain Lakes, USA); • An electromagnetic system is available; PREREQUISITES Students are expected to have a working knowledge of control theory, differential equations, linear systems, statics, kinematic and dynamics. Familiarity with programming, especially with Matlab and C++. OTHER NOTES This project will involve a weekly meeting with the instructors and progress reports have to be prepared. All reports should be written in academic paper format. 1. References [1] S. Martel and M. Mohammadi, “Using a swarm of self-propelled natural microrobots in the form of flagellated bacteria to perform complex micro-assembly tasks," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 500-505, Alaska, USA, May 2010. Figure 1. Scanning/Transmission Electron Microscope (SEM/TEM) images of the Magnetotactic Bacterium (MTB), i.e., Magnetospirillum magnetotacticum MS-1. The SEM image shows the spiral membrane of the MTB which envelopes chains of magnetite nano-crystals. This membrane has an average diameter and length of 0.5 μm and 5 μm, respectively. [2] H. A. Hassan, M. Pichel, T. Hageman, L. Abelmann, and I. S. M. Khalil, “Influence of the magnetic field on the two-dimensional control of magnetospirillum gryphiswaldense strain MSR-1," in Proceedings of the IEEE/RSJ International Conference of Robotics and Systems (IROS), pp. 5119–5124, Daejeon, Korea, October 2016. [3] I. S. M. Khalil, J. D. Keuning, L. Abelmann, and S. Misra, “Wireless magnetic-based control of paramagnetic microparticles," in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 460-466, Rome, Italy, June 2012. www.MNRLab.com Mohamed Elwi, Anke Klingner, Nermeen S. El Din, and Islam S. M. Khalil 1

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Page 1: Trajectory Planning and Control of Magnetotactic Bacteria · (SEM/TEM) images of the Magnetotactic Bacterium (MTB), i.e., Magnetospirillum magnetotacticum MS-1. The SEM image shows

Trajectory Planning and Control of Magnetotactic Bacteria

Magnetotactic bacteria have the potential to execute nontrivial tasks, such as microactuation, micromanipulation, andmicroassembly, under the influence of the controlled magnetic fields. Closed-loop control characteristics of thesemagnetic microorganisms depend on their self-propulsion forces (motility) and magnetic dipole moments. Theseproperties can be controlled through the growth conditions of magnetotactic bacteria. We provide a comparisonbetween two species of magnetotactic bacteria, i.e., Magnetospirillum magnetotacticum strain MS-1 andMagnetospirillum magneticum strain AMB-1. This comparison includes the characterization of their morphologies,magnetic dipole moments, and closed-loop control characteristics in the transient and steady states.

ObjectiveIn this project, we will focus on the motion control ofmagnetotactic bacteria inside fluidic chips with severalbifurcations and channels. The ultimate goal of this projectis to demonstrate the ability of the directional control usingmagnetic fields to move the bacteria towards a referenceposition along a pre-specified path.

Tasks• Control of magnetotactic bacteria in a stationary

medium;

• Path planning and trajectory generation;

• Demonstration of closed-loop control along a pathinside a chip with several bifurcations.

Materials• Capillary tubes have to be ordered (VitroCom,

VitroTubes 3520-050, Mountain Lakes, USA);

• An electromagnetic system is available;

PREREQUISITESStudents are expected to have a working knowledgeof control theory, differential equations, linear systems,statics, kinematic and dynamics. Familiarity withprogramming, especially with Matlab and C++.

OTHER NOTESThis project will involve a weekly meeting with theinstructors and progress reports have to be prepared. Allreports should be written in academic paper format.

1. References[1] S. Martel and M. Mohammadi, “Using a swarm

of self-propelled natural microrobots in theform of flagellated bacteria to perform complexmicro-assembly tasks," in Proceedings of the IEEEInternational Conference on Robotics and Automation(ICRA), pp. 500-505, Alaska, USA, May 2010.

Figure 1. Scanning/Transmission Electron Microscope(SEM/TEM) images of the Magnetotactic Bacterium (MTB),i.e., Magnetospirillum magnetotacticum MS-1. The SEM imageshows the spiral membrane of the MTB which envelopes chainsof magnetite nano-crystals. This membrane has an averagediameter and length of 0.5 µm and 5 µm, respectively.

[2] H. A. Hassan, M. Pichel, T. Hageman, L. Abelmann,and I. S. M. Khalil, “Influence of the magnetic fieldon the two-dimensional control of magnetospirillumgryphiswaldense strain MSR-1," in Proceedings of theIEEE/RSJ International Conference of Robotics andSystems (IROS), pp. 5119–5124, Daejeon, Korea,October 2016.

[3] I. S. M. Khalil, J. D. Keuning, L. Abelmann,and S. Misra, “Wireless magnetic-based controlof paramagnetic microparticles," in Proceedings ofthe IEEE RAS/EMBS International Conference onBiomedical Robotics and Biomechatronics (BioRob), pp.460-466, Rome, Italy, June 2012.

www.MNRLab.com Mohamed Elwi, Anke Klingner, Nermeen S. El Din, and Islam S. M. Khalil 1

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