Real-time feedback control using artificial magnetotaxis with rapidly-exploring random tree (RRT) for Tetrahymena pyriformis as a microbiorobot

@article{Kim2011RealtimeFC,
  title={Real-time feedback control using artificial magnetotaxis with rapidly-exploring random tree (RRT) for Tetrahymena pyriformis as a microbiorobot},
  author={Dal Hyung Kim and Sean Brigandi and Anak Agung Julius and Minjun Kim},
  journal={2011 IEEE International Conference on Robotics and Automation},
  year={2011},
  pages={3183-3188}
}
In this paper, we present a control strategy using real-time feedback combined with feasible path planning to manipulate a type of microorganism, Tetrahymena pyriformis (T. pyriformis), as a micro-bio-robot using artificial magnetotaxis. Artificially magnetotactic T. pyriformis cells were created by the internalization of iron oxide nano particles. Following the magnetization of the internalized particles, the cells become controllable using an external time-varying magnetic field. The behavior… CONTINUE READING

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