Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles

Oğulcan Işıtman; Hakan Kandemir; Gokhan Alcan; Zoran M. Cenev; Quan Zhou

doi:10.1109/MARSS55884.2022.9870468

Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles

Oğulcan Işıtman
, Hakan Kandemir
, Gokhan Alcan
, Zoran M. Cenev
, Quan Zhou

Not published at VTT

Aalto University

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

3 Citations (Scopus)

Abstract

Magnetic manipulation of particles at close vicinity is a challenging task. In this paper, we propose simultaneous and independent manipulation of two identical particles at close vicinity using two mobile robotic electromagnetic needles. We developed a neural network that can predict the magnetic flux density gradient for any given needle positions. Using the neural network, we developed a control algorithm to solve the optimal needle positions that generate the forces in the required directions while keeping a safe distance between the two needles and particles. We applied our method in five typical cases of simultaneous and independent microparticle manipulation, with the closest particle separation of 30 μm.

Original language	English
Title of host publication	Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales
Editors	Sinan Haliyo, Mokrane Boudaoud, Eric Diller, Xinyu Liu, Yu Sun, Sergej Fatikow
Publisher	IEEE Institute of Electrical and Electronic Engineers
ISBN (Electronic)	978-1-6654-5973-0
ISBN (Print)	978-1-6654-5974-7
DOIs	https://doi.org/10.1109/MARSS55884.2022.9870468
Publication status	Published - 2022
MoE publication type	A4 Article in a conference publication

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10.1109/MARSS55884.2022.9870468

https://acris.aalto.fi/ws/portalfiles/portal/90971693/Isitman_et_al_Simultaneous_and_Independent.pdf

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Işıtman, O., Kandemir, H., Alcan, G., Cenev, Z. M., & Zhou, Q. (2022). Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles. In S. Haliyo, M. Boudaoud, E. Diller, X. Liu, Y. Sun, & S. Fatikow (Eds.), Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales IEEE Institute of Electrical and Electronic Engineers. https://doi.org/10.1109/MARSS55884.2022.9870468

Işıtman, Oğulcan ; Kandemir, Hakan ; Alcan, Gokhan et al. / Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles. Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales. editor / Sinan Haliyo ; Mokrane Boudaoud ; Eric Diller ; Xinyu Liu ; Yu Sun ; Sergej Fatikow. IEEE Institute of Electrical and Electronic Engineers, 2022.

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title = "Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles",

abstract = "Magnetic manipulation of particles at close vicinity is a challenging task. In this paper, we propose simultaneous and independent manipulation of two identical particles at close vicinity using two mobile robotic electromagnetic needles. We developed a neural network that can predict the magnetic flux density gradient for any given needle positions. Using the neural network, we developed a control algorithm to solve the optimal needle positions that generate the forces in the required directions while keeping a safe distance between the two needles and particles. We applied our method in five typical cases of simultaneous and independent microparticle manipulation, with the closest particle separation of 30 μm. ",

author = "Oğulcan I{\c s}ıtman and Hakan Kandemir and Gokhan Alcan and Cenev, \{Zoran M.\} and Quan Zhou",

note = "Funding Information: *Research supported by Academy of Finland Project 331149 and 328239. 1Authors are with the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, 00076, Aalto. Finland. 2Author is with the Department of Applied Physics, School of Science, Aalto University, 00076, Aalto. Finland. All email addresses: [email protected]. Publisher Copyright: {\textcopyright} 2022 IEEE.",

year = "2022",

doi = "10.1109/MARSS55884.2022.9870468",

language = "English",

isbn = "978-1-6654-5974-7",

editor = "Sinan Haliyo and Mokrane Boudaoud and Eric Diller and Xinyu Liu and Yu Sun and Sergej Fatikow",

booktitle = "Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales",

publisher = "IEEE Institute of Electrical and Electronic Engineers",

address = "United States",

}

Işıtman, O, Kandemir, H, Alcan, G, Cenev, ZM & Zhou, Q 2022, Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles. in S Haliyo, M Boudaoud, E Diller, X Liu, Y Sun & S Fatikow (eds), Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales. IEEE Institute of Electrical and Electronic Engineers. https://doi.org/10.1109/MARSS55884.2022.9870468

Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles. / Işıtman, Oğulcan; Kandemir, Hakan; Alcan, Gokhan et al.
Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales. ed. / Sinan Haliyo; Mokrane Boudaoud; Eric Diller; Xinyu Liu; Yu Sun; Sergej Fatikow. IEEE Institute of Electrical and Electronic Engineers, 2022.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles

AU - Işıtman, Oğulcan

AU - Kandemir, Hakan

AU - Alcan, Gokhan

AU - Cenev, Zoran M.

AU - Zhou, Quan

N1 - Funding Information: *Research supported by Academy of Finland Project 331149 and 328239. 1Authors are with the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, 00076, Aalto. Finland. 2Author is with the Department of Applied Physics, School of Science, Aalto University, 00076, Aalto. Finland. All email addresses: [email protected]. Publisher Copyright: © 2022 IEEE.

PY - 2022

Y1 - 2022

N2 - Magnetic manipulation of particles at close vicinity is a challenging task. In this paper, we propose simultaneous and independent manipulation of two identical particles at close vicinity using two mobile robotic electromagnetic needles. We developed a neural network that can predict the magnetic flux density gradient for any given needle positions. Using the neural network, we developed a control algorithm to solve the optimal needle positions that generate the forces in the required directions while keeping a safe distance between the two needles and particles. We applied our method in five typical cases of simultaneous and independent microparticle manipulation, with the closest particle separation of 30 μm.

AB - Magnetic manipulation of particles at close vicinity is a challenging task. In this paper, we propose simultaneous and independent manipulation of two identical particles at close vicinity using two mobile robotic electromagnetic needles. We developed a neural network that can predict the magnetic flux density gradient for any given needle positions. Using the neural network, we developed a control algorithm to solve the optimal needle positions that generate the forces in the required directions while keeping a safe distance between the two needles and particles. We applied our method in five typical cases of simultaneous and independent microparticle manipulation, with the closest particle separation of 30 μm.

UR - https://www.scopus.com/pages/publications/85138995848

U2 - 10.1109/MARSS55884.2022.9870468

DO - 10.1109/MARSS55884.2022.9870468

M3 - Conference article in proceedings

SN - 978-1-6654-5974-7

BT - Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales

A2 - Haliyo, Sinan

A2 - Boudaoud, Mokrane

A2 - Diller, Eric

A2 - Liu, Xinyu

A2 - Sun, Yu

A2 - Fatikow, Sergej

PB - IEEE Institute of Electrical and Electronic Engineers

ER -

Işıtman O, Kandemir H, Alcan G, Cenev ZM, Zhou Q. Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles. In Haliyo S, Boudaoud M, Diller E, Liu X, Sun Y, Fatikow S, editors, Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales. IEEE Institute of Electrical and Electronic Engineers. 2022 doi: 10.1109/MARSS55884.2022.9870468

Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles

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