4 research outputs found
Control of magnetotactic bacterium in a micro-fabricated maze
We demonstrate the closed-loop control of a magnetotactic bacterium (MTB), i.e., Magnetospirillum magnetotacticum, within a micro-fabricated maze using a magneticbased manipulation system. The effect of the channel wall on the motion of the MTB is experimentally analyzed. This analysis is done by comparing the characteristics of the transient- and steady-states of the controlled MTB inside and outside a microfabricated maze. In this analysis, the magnetic dipole moment of our MTB is characterized using a motile technique (the u-turn technique), then used in the realization of a closed-loop control system. This control system allows the MTB to reach reference positions within a micro-fabricated maze with a channel width of 10 ÎĽm, at a velocity of 8 ÎĽm/s. Further, the control system positions the MTB within a region-of-convergence of 10 ÎĽm in diameter. Due to the effect of the channel wall, we observe that the velocity and the positioning accuracy of the MTB are decreased and increased by 71% and 44%, respectively
An Investigation of the Sensing Capabilities of Magnetotactic Bacteria
We investigate the sensing capabilities of magnetotactic bacteria (Magnetospirillum gryphiswaldense strain MSR1) to MCF-7 breast cancer cells. Cancer cells are allowed to grow inside a capillary tube with depth of 200 μ m and motion of magnetotactic bacteria is investigated under the influence of oxygen gradient and geomagnetic field. The influence of cancer cells is modeled to predict the oxygen gradient within the capillary tube in three-dimensional space. Our experimental motion analysis and count of motile magnetotactic bacteria indicate that they migrate towards less-oxygenated regions within the vicinity of cancer cells. Bands of magnetotactic bacteria with average concentration of 18.8±2.0% are observed in close proximity to MCF-7 cells (h = 20~ μ m), whereas the concentration at proximity of 190~ μ m is 5.0 ± 6.8%
Particle computation: Designing worlds to control robot swarms with only global signals
Micro- and nanorobots are often controlled by global input signals, such as an electromagnetic or gravitational field. These fields move each robot maximally until it hits a stationary obstacle or another stationary robot. This paper investigates 2D motion-planning complexity for large swarms of simple mobile robots (such as bacteria, sensors, or smart building material). In previous work we proved it is NP-hard to decide whether a given initial configuration can be transformed into a desired target configuration; in this paper we prove a stronger result: the problem of finding an optimal control sequence is PSPACE-complete. On the positive side, we show we can build useful systems by designing obstacles. We present a reconfigurable hardware platform and demonstrate how to form arbitrary permutations and build a compact absolute encoder. We then take the same platform and use dual-rail logic to build a universal logic gate that concurrently evaluates AND, NAND, NOR and OR operations. Using many of these gates and appropriate interconnects we can evaluate any logical expression.National Science Foundation (U.S.) (CPS-1035716
Particle Computation: Complexity, Algorithms, and Logic
We investigate algorithmic control of a large swarm of mobile particles (such
as robots, sensors, or building material) that move in a 2D workspace using a
global input signal (such as gravity or a magnetic field). We show that a maze
of obstacles to the environment can be used to create complex systems. We
provide a wide range of results for a wide range of questions. These can be
subdivided into external algorithmic problems, in which particle configurations
serve as input for computations that are performed elsewhere, and internal
logic problems, in which the particle configurations themselves are used for
carrying out computations. For external algorithms, we give both negative and
positive results. If we are given a set of stationary obstacles, we prove that
it is NP-hard to decide whether a given initial configuration of unit-sized
particles can be transformed into a desired target configuration. Moreover, we
show that finding a control sequence of minimum length is PSPACE-complete. We
also work on the inverse problem, providing constructive algorithms to design
workspaces that efficiently implement arbitrary permutations between different
configurations. For internal logic, we investigate how arbitrary computations
can be implemented. We demonstrate how to encode dual-rail logic to build a
universal logic gate that concurrently evaluates and, nand, nor, and or
operations. Using many of these gates and appropriate interconnects, we can
evaluate any logical expression. However, we establish that simulating the full
range of complex interactions present in arbitrary digital circuits encounters
a fundamental difficulty: a fan-out gate cannot be generated. We resolve this
missing component with the help of 2x1 particles, which can create fan-out
gates that produce multiple copies of the inputs. Using these gates we provide
rules for replicating arbitrary digital circuits.Comment: 27 pages, 19 figures, full version that combines three previous
conference article