Feedback control of many magnetized: Tetrahymena pyriformis cells by exploiting phase inhomogeneity

摘要: Biological robots can be produced in large numbers, but are often controlled by uniform inputs. This makes position control of multiple inherently challenging. paper uses magnetically-steered ciliate eukaryon {Tetrahymena pyriformis) as a case study. These cells swim at constant speed, and turned changing the orientation an external magnetic field. We show that it is possible to steer T. pyriformis independent goals if their turning - modeled first-order system has unique time constants. provide identification tools parameterize parallel. construct feedback control-Lyapunov methods exploit differing phase-lags under rotating field target positions. prove these techniques scale any number with responses global simulations steering hundreds validate our procedure hardware experiments cells.