Planar Path Following of 3-D Steering Scaled-Up Helical Microswimmers


Helical microswimmers that are capable of propulsion at low Reynolds numbers have nice potential for various applications. Several sorts of artificial magnetic-actuated helical microswimmers are designed by researchers. But, they're primarily open-loop controlled. This paper aims to research strategies of closed-loop management of a magnetic-actuated helical swimmer at low Reynolds range by using visual feedback. For many in-vitro applications, helical swimmers should taste a defined path, as an example along channels with no requirement on the rate profile along the path. Thus, the main objective of this paper is to attain a velocity-freelance planar path following task. Since the planar path following relies on three-D steering management of the helical swimmer, a 3-D pose estimation of a helical swimmer is introduced primarily based on the important-time visual tracking with a stereo vision system. The contribution of this paper is in 2 parts: The 3-D steering of a helical swimmer is demonstrated by visual servo management; and the trail following of a straight line with visual servo management is achieved, then compared with open-loop control. We tend to any expect that with this visual servo management technique, the helical swimmers can be ready to follow reference ways at the microscale.

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