论文标题
催化Janus微型机器人的闭环控制
Closed-loop Control of Catalytic Janus Microrobots
论文作者
论文摘要
我们报告了一个闭环控制系统，用于催化催化自行的Janus微型机器人。我们通过采用电磁线圈来实现此控制，该电磁线圈将磁场以所需的方向引导来引导微型机器人。微型机器人由于过氧化氢的催化分解而移动，在此期间，它们将自己与施加到它们的磁性扭矩保持一致。由于它们的运动方向和磁取向之间的角度是先验未知的，因此使用算法来确定该角度偏移并适当调整磁场。微型机器人使用与摄像机集成的实时粒子跟踪位置。用户可以绘制目标位置或所需的轨迹，以供微型机器人遵循。
We report a closed-loop control system for paramagnetic catalytically self-propelled Janus microrobots. We achieve this control by employing electromagnetic coils that direct the magnetic field in a desired orientation to steer the microrobots. The microrobots move due to the catalytic decomposition of hydrogen peroxide, during which they align themselves to the magnetic torques applied to them. Because the angle between their direction of motion and their magnetic orientation is a priori unknown, an algorithm is used to determine this angular offset and adjust the magnetic field appropriately. The microrobots are located using real-time particle tracking that integrates with a video camera. A target location or desired trajectory can be drawn by the user for the microrobots to follow.
