journal Advanced Intelligent Systems.

Motion Analysis and Real-Time Trajectory Prediction of Magnetically Steerable Catalytic Janus Micromotors

  • Modeling
  • Motion analysis
  • Catalytic micromotors
  • Janus particles
  • Magnetic microrobots
  • Kalman filter

This paper address the real-time motion analysis of catalytic Janus magnetic micromotors.

Q1 IF: 7.298
Authors
Affiliations

Jiaen Wu

Jiawei Zhu

Bumjin Jang

Department of Robotics, Hanyang University, ERICA Campus

Xiangzhong Chen

Junxiao Feng

Department of Materials, ETH Zurich

Pietro Gambardella

Department of Materials, ETH Zurich

Sort, Jordi

Departament de Física, Universitat Autònoma de Barcelona

Josep Puigmarti-Luis

Institució Catalana de Recerca i Estudis Avançats (ICREA)

Olgac Ergeneman

Antoine Ferreira

Salvador Pané

Published

Abstract

Chemically driven micromotors display unpredictable trajectories due to the rotational Brownian motion interacting with the surrounding fluid molecules. This hampers the practical applications of these tiny robots, particularly where precise control is a requisite. To overcome the rotational Brownian motion and increase motion directionality, robots are often decorated with a magnetic composition and guided by an external magnetic field. However, despite the straightforward method, explicit analysis and modeling of their motion have been limited. Here, catalytic Janus micromotors are fabricated with distinct magnetizations and a controlled self-propelled motion with magnetic steering is shown. To analyze their dynamic behavior, a dynamic model that can successfully predict the trajectory of micromotors in uniform viscous flows in real time by incorporating a form of state-dependent-coefficient with a robust two-stage Kalman filter is theoretically developed. A good agreement is observed between the theoretically predicted dynamics and experimental observations over a wide range of model parameter variations. The developed model can be universally adopted to various designs of catalytic micro-/nanomotors with different sizes, geometries, and materials, even in diverse fuel solutions. Finally, the proposed model can be used as a platform for biosensing, detecting fuel concentration, or determining small-scale motors’ propulsion mechanisms in an unknown environment.

Keywords: bubble recoil propulsion,catalytic swimmers,directionality control,magnetic Janus particles,real-time trajectory prediction

Acknowledgements

J.W. and D.F. contributed equally to this work. This project has received funding from the European Union’s Horizon 2020 research and innovation program under the Marie Sklodowska-Curie grant agreement No. 764977, the Spanish (PID2020-116844RB-C2 and PID2020-116844RB-C21) and Catalan (2017-SGR-0292) research administrations, and the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2022R1C1C1007338).

Supporting Information

Supplementary material is available on the editor website.

Reuse

Citation

BibTeX citation:
@article{wu2022,
  author = {Wu, Jiaen and Folio, David and Zhu, Jiawei and Jang, Bumjin
    and Chen, Xiangzhong and Feng, Junxiao and Gambardella, Pietro and
    Jordi , Sort and Puigmarti-Luis, Josep and Ergeneman, Olgac and
    Ferreira, Antoine and Pané, Salvador},
  publisher = {Wiley},
  title = {Motion {Analysis} and {Real-Time} {Trajectory} {Prediction}
    of {Magnetically} {Steerable} {Catalytic} {Janus} {Micromotors}},
  journal = {Advanced Intelligent Systems},
  volume = {4},
  number = {11},
  date = {2022-09-21},
  url = {https://dfolio.fr/publications/articles/2022wuAIS.html},
  doi = {10.1002/aisy.202200192},
  issn = {2640-4567},
  langid = {en-US},
  abstract = {Chemically driven micromotors display unpredictable
    trajectories due to the rotational Brownian motion interacting with
    the surrounding fluid molecules. This hampers the practical
    applications of these tiny robots, particularly where precise
    control is a requisite. To overcome the rotational Brownian motion
    and increase motion directionality, robots are often decorated with
    a magnetic composition and guided by an external magnetic field.
    However, despite the straightforward method, explicit analysis and
    modeling of their motion have been limited. Here, catalytic Janus
    micromotors are fabricated with distinct magnetizations and a
    controlled self-propelled motion with magnetic steering is shown. To
    analyze their dynamic behavior, a dynamic model that can
    successfully predict the trajectory of micromotors in uniform
    viscous flows in real time by incorporating a form of
    state-dependent-coefficient with a robust two-stage Kalman filter is
    theoretically developed. A good agreement is observed between the
    theoretically predicted dynamics and experimental observations over
    a wide range of model parameter variations. The developed model can
    be universally adopted to various designs of catalytic
    micro-/nanomotors with different sizes, geometries, and materials,
    even in diverse fuel solutions. Finally, the proposed model can be
    used as a platform for biosensing, detecting fuel concentration, or
    determining small-scale motors’ propulsion mechanisms in an unknown
    environment.}
}
For attribution, please cite this work as:
Wu J., Folio D., Zhu J., Jang B., Chen X., Feng J., Gambardella P., Jordi S., Puigmarti-Luis J., Ergeneman O., Ferreira A., and Pané S., “Motion Analysis and Real-Time Trajectory Prediction of Magnetically Steerable Catalytic Janus Micromotors,” Adv. Intell. Syst., vol. 4, September 2022. [Online]. Available: https://dfolio.fr/publications/articles/2022wuAIS.html