Investigation of Swimming and Surface Motion Dynamics and Control of V-Shaped Magnetic Microswimmers
Subject Area
Mechanical Engineering, Bioengineering and Biomedical Engineering
Abstract
Planar magnetic microswimmers have emerged as promising platforms for biomedical microrobotics due to their scalable photolithographic fabrication and controllable magnetic actuation. This dissertation investigates the propulsion dynamics, surface motion mechanics, and control strategies of planar V-shaped magnetic microswimmers actuated by rotating and conically rotating magnetic fields. The symmetric geometry and magnetization alignment enable unidirectional propulsion within specific actuation frequency regimes, providing enhanced controllability and predictable motion behavior. Experimental studies demonstrate the influence of cone angle and driving frequency on propulsion efficiency and validate theoretical predictions of swimmer dynamics.
Beyond fluid-based propulsion, this work extends the operational capabilities of planar microswimmers to surface locomotion and manipulation in constrained environments. A Model Predictive Control framework is developed and experimentally implemented to achieve precise surface motion control, representing a critical step toward adaptive closed-loop navigation in complex scenarios. Motion modeling and tracking algorithms are further evaluated across Newtonian fluid environments to improve control robustness.
In addition, a teleoperation framework incorporating haptic feedback is developed for magnetic manipulation tasks using a magnetic tweezer system. Real-time motion modeling, wireless communication, and artificially generated haptic forces are integrated to enable intuitive operator interaction. A Time-Domain Passivity Controller is implemented to mitigate network-induced instability, ensuring stable and responsive teleoperation under communication delays.
Collectively, these contributions advance the theoretical understanding, control methodology, and practical deployment of planar magnetic microrobots. The presented frameworks establish a foundation for future development of adaptive control and teleoperated microrobotic systems for minimally invasive biomedical applications.
Degree Date
Spring 2026
Document Type
Dissertation
Degree Name
Ph.D.
Department
Mechanical Engineering
Advisor
MinJun Kim
Number of Pages
167
Format
Recommended Citation
Duygu, Yasin Cagatay, "Investigation of Swimming and Surface Motion Dynamics and Control of V-Shaped Magnetic Microswimmers" (2026). Mechanical Engineering Research Theses and Dissertations. 63.
https://scholar.smu.edu/engineering_mechanical_etds/63
Included in
Acoustics, Dynamics, and Controls Commons, Biomechanical Engineering Commons, Electro-Mechanical Systems Commons
