This files simulate magnetically-steered ciliate eukaryon (Tetrahymena pyriformis), cells that swim at a constant speed, and can be turned by changing the orientation of an external magnetic field. We show that it is possible to steer multiple T. pyriformis to independent goals if their turning---modeled as a first-order system---has unique time constants.
We construct feedback control-Lyapunov methods that exploit differing phase-lags under a rotating magnetic field to steer multiple cells to independent target positions.
The results match what was predicted in the paper 'Feedback Control of Many Magnetized Tetrahymena pyriformis Cells by Exploiting Phase Inhomogeneity',
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) November 3-8, 2013. A full-resolution version is available at [http://www.youtube.com/watch?v=MLr2YvghPns].
ODEsimPyriformisPhaseLag.m produces simulation video
ODEsimSpirographPlot.m produces Fig. 4
Aaron Becker is with the Computer Science
Department, Rice University, Houston, TX 77005 USA
Y. Ou and A. Julius are with the Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, 110 8th Street, Troy, NY 12180, USA.
P. Kim and M. Kim are with the Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA 19104, USA.