Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 33, Issue 5, Pages 1213-1225Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2017.2693999
Keywords
Cargo delivery; collective behavior; disassembly; micro- and nanorobots; paramagnetic nanoparticle chains
Categories
Funding
- Early Career Scheme (ECS) [439113]
- General Research Fund (GRF) [14209514]
- Research Grants Council (RGC) of Hong Kong SAR [14203715]
- National Natural Science Funds of China [61305124]
- Shenzhen Government (SZSTI) for the Basic Research Fund [JCYJ20140905151415999]
- CUHK T Stone Robotics Institute
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Paramagnetic nanoparticles are considered as attractive building blocks, particularly for robotic delivery of drugs. Although paramagnetic nanoparticles can be effectively gathered and transported using external magnetic fields, the disassembly process is yet to be fully investigated to avoid the formation of aggregations. In this paper, we report a novelmethod of controllable disassembly of paramagnetic nanoparticle chains using a predefined dynamic magnetic field. The dynamic field is capable of performing spreading and fragmentation of the particle chains simultaneously. Using the magnetic dipole-dipole repulsive forces, the final area covered by the particle chains swells up to 545% of the initial area. The final length distribution presents a strong relationship with the frequency of the dynamic field in deionized (DI) water and two kinds of biofluids. An analytical model of phase lag is proposed, which shows good agreementwith the experimental results. Furthermore, we also present an assembly process using a rotating magnetic field, indicating that the assembly disassembly process is reversible. In addition, batch-cargo delivery of polystyrene microbeads using the nanoparticle chains as swarm-like nanorobots is demonstrated.
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