Frank van den Brink
Frank van den Brink
Former student (completed: Jan 22, 2013)
BSc Assignment: Modeling and Magnetic-Based Motion Control of a Cluster of Micro Particles
In the field of minimal invasive surgery, electromagnetic systems have been employed to control micro particles. These micro particles could perform targeted drug delivery. Electromagnetic systems could steer the micro particles to hard-to-reach regions within the human body. This reduces negative side effects as the medication can be delivered locally
without affecting the healthy tissue. The magnetic force applied on a micro particle depends on its size (diameters of 30 µm up to 110 µm for spherical micro particles). Therefore, each micro particle experiences a magnetic force in the range of few nanoNewton to tens of nanoNewton.
This force range is sufficient for a small range of applications such as micromanipulation of micro objects. Larger forces are required to increase the range of applications. A cluster of micro particles will be used to increase the magnetic forces. In order to control the cluster of micro particles, the following tasks will be carried out:
* A dynamic model will be developed to calculate the forces required to move the cluster of micro particles along a desired trajectory.
* Point-to-point closed-loop control experiments will be conducted on a magnetic system.
The magnetic system consists of four electromagnets surrounding a water reservoir of 11:5mm x 11:5 mm. The magnetic system is capable of generating magnetic field gradients of 60 mT/m. A vision system mounted on top of the electromagnets will be used to track the motion of the cluster of micro particles. The tracking information will be used to realize the control system.
The expected outcome of this project is a model which accurately describes the behavior of a cluster of micro particles in a water reservoir.
The model will be used to design the control system. In addition, the cluster of micro particles will be used to perform micro-assembly of micro-objects. This will be done as a proof of concept, since micro-assembly requires precise motion control of the cluster of micro particles.