U. Kei Cheang

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This paper presents a systematic analysis of the motion of microscale structures actuated by flagellated bacteria. We perform the study both experimentally and theoretically. We use a blotting procedure to attach flagellated bacteria to a buoyancy-neutral plate called a microbarge. The motion of the plate depends on the distribution of the cells on the(More)
Controllable propulsion of microscale and nanoscale devices enhanced with additional functionality would enable the realization of miniaturized robotic swimmers applicable to transport and assembly, actuators, and drug delivery systems. Following biological examples, existing magnetically actuated microswimmers have been designed to use flexibility or(More)
This paper develops a novel approach to microscale locomotion and manipulation using flagellated bacteria for actuation. We use a blotting procedure to attach flagellated bacteria to a buoyancy-neutral plate called a microbarge and deploy the plate in a microchannel . The motion of the plate depends on the propulsion of the bacteria which in turn depends on(More)
There has been significant recent interest in micro-nano robots operating in low Reynold’s number fluidic environments. Even though recent works showed the success of controlling micro-nano robots, there are some limitations because of the tracking method. In this paper, we introduce and implement a feature-based tracking method (FTM). Scale invariant(More)
As microscale robots are becoming increasingly popular due to their potential for medical and industrial applications, various designs of microscale robotic system have been developed. However, there has not been much work on autonomous control algorithms for microscale robots in microfluidic environments. In this paper, we introduce an autonomous(More)
Bacterial flagella with their unique structural properties have proven to be promising bio-templates and can be exploited for the creation of nanomaterial with very high aspect ratio and surface area. Their chemically modifiable surfaces allow the flagella be modified to possess electrical/electronic properties. Their extraordinary physical properties along(More)
This paper presents an obstacle-avoidance based approach for the control of MicroBioRobots (MBRs) using electric field. A MBR is an integrated cell-based robotic system, each of which consists of a SU-8 microstructure blotted with swarming bacteria. The concept of the MBR is to utilize inorganic structures as platforms to harness the collective propulsive(More)
In this paper, we demonstrate the feedback control of the three-bead achiral microswimmers in simulation and experiment. The achiral microswimmers are controlled wirelessly using magnetic fields with the ability to swim in bulk fluid. The achirality of the microswimmer introduces unknown handedness of the microswimmer resulting in uncertainty in swimming(More)
The realization of reconfigurable modular microrobots could aid drug delivery and microsurgery by allowing a single system to navigate diverse environments and perform multiple tasks. So far, microrobotic systems are limited by insufficient versatility; for instance, helical shapes commonly used for magnetic swimmers cannot effectively assemble and(More)
Microorganisms can effectively generate propulsive force at the microscale where viscous forces overwhelmingly dominate inertia forces; bacteria achieve this task through flagellar motion. When swarming bacteria, cultured on agar plates, are blotted onto the surface of a microfabricated structure, a monolayer of bacteria forms what is termed a "bacterial(More)
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