Modeling, Control, and Fabrication of Bacteria Propelled Micro-Robotic Swarms for Future Healthcare Applications: Promises, Challenges, and Recent Developments
Radu Marculescu, Carnegie Mellon University
Metin Sitti, Carnegie Mellon University
Damien Faivre, Max Planck Institute, Potsdam, Germany
Paul Bogdan, University of Southern California
This half-day tutorial (T1) will be held on Monday, April 14 as part of the workshop and tutorial day. More info can be found here https://www.cpsweek2014.org/cpsweek2014/worktut.html.
In this tutorial, we address the issue of designing a large number of biological micro-robots capable of swimming through inaccessible low velocity areas inside the human body and perform user-directed tasks such as diagnosis of diseases and targeted drug delivery. Such microrobotic swarms are indispensable for health-care applications for minimally invasive disease diagnosis and treatment inside the human body, biotechnology applications inside lab-on-a-chip type of fluidic micro-devices, and mobile sensor network applications for monitoring environment against hazardous materials or pathogens. While in recent years there has been some progress towards the analysis, fabrication, and control of single biological micro-robots, the design of swarms of such micro-robots still lacks an appropriate computational framework for capturing swarm interactions. In this tutorial we plan to go beyond this limitation and explore new angles of designing biological robots at nanoscale that target healthcare applications. Specifically, we plan to discuss the CPS nature of such microrobotic swarms by emphasizing the analog computations happening at bacteria level, and then analyze the capabilities of molecular communication to coordinate and control the entire swarm dynamics when performing a specific task.
Keywords: Cyber-physical systems, dynamical systems, multiscale behavior, chemotaxis, magnetotaxis, swarms control, manufacturing.
Intended Audience: This tutorial involves four presentations covering all aspects of modeling, control, and fabrication of bacteria-based platforms that can be manipulated via chemotactic or magnetotactic stimuli to perform various tasks related to diagnostic and drug delivery. The material is intended for an audience new to the design of CPS based on biological platforms. The presentation will introduce all the relevant background material, provide an overview of the current state-of-the-art in bacteria-based robot design, and finally address the dynamical properties and control of swarms of bacteria. The material discussed is highly relevant to students, researchers, and CPS practitioners interested in future CPS healthcare applications.
Tentative Topics: 1. Foundations: Characteristics of physical processes, bacteria as a CPS, modeling paradigms. 2. Modeling and control of stochastic networks of swarms. “Beyond Turing” computation via dense networks of swarms of micro-robots 3. Physical platform: Fabrication and steering control of bacteria propelled micro-robots 4. Chemotactic and magnetotactic steering methods 5. Potential applications to diagnostic and drug delivery systems 6. Perspective on future developments
Length of the tutorial: 3-3.5 hours (half-day tutorial).
Radu Marculescu is a Professor in the Dept. of Electrical and Computer Engineering at Carnegie Mellon University, USA. He received his Ph.D. in Electrical Engineering from the University of Southern California in 1998. He has received the Donald O. Pederson Best Paper Award from the IEEE Transactions of Computer-Aided Design of Integrated circuits and Systems in 2012, the Best Paper Award of IEEE Transactions on VLSI Systems in 2011 and 2005, as well as several best paper awards in major conferences in the area of design automation and multi-core design. He has been involved in organizing several international symposia, conferences, workshops, and tutorials, as well as guest editor of special issues in archival journals and magazines. His research focuses on design methodologies and software tools for embedded systems, cyber-physical systems, and biological systems. Radu Marculescu is an IEEE Fellow.
Metin Sitti received the B.Sc. and M.Sc. degrees in electrical and electronics engineering from Bogazici University, Istanbul, Turkey, in 1992 and 1994, respectively, and the Ph.D. degree in electrical engineering from the University of Tokyo, Tokyo, Japan, in 1999. He was a Research Scientist with the University of California at Berkeley during 1999– 2002. He is currently a Professor with the Department of Mechanical Engineering and Robotics Institute, Carnegie Mellon University, Pittsburgh, PA. He is the Director of the NanoRobotics Lab and Center for Bio-Robotics. His research interests include micro/nano-robotics, bio-inspired and bio-hybrid miniature mobile robots, bio-inspired micro/nano-materials, and micro/nano-manipulation. He received the SPIE Nanoengineering Pioneer Award in 2011, National Science Foundation CAREER Award in 2005, and IBM Smarter Planet Award in 2012. He received the Best Paper Award in the IEEE/RSJ International Conference on Intelligent Robots and Systems in 2009 and 1998, the Best Biomimetics Paper Award at the IEEE Robotics and Biomimetics Conference in 2004, and the Best Video Award at the IEEE Robotics and Automation Conference in 2002. He was appointed as the Adamson Career Faculty Fellow during 2007–2010. He was the Vice President for Technical Activities at the IEEE Nanotechnology Council during 2008–2010. He was elected as the Distinguished Lecturer of the IEEE Robotics and Automation Society for 2006–2008. He is the current active Editor-In-Chief of Journal of Micro-Bio Robotics.
Damien Faivre is a group leader at the Max Planck Institute of Colloids and Interfaces in Potsdam, Germany. He receives his Doctorate in Geochemistry from the University of Paris in 2004. He was guest scientist in several places around the world including Concordia University (Canada), Caltech (USA), and Cambridge University (UK). Dr. Faivre was awarded a starting grant from the European Research Council in 2010 and is currently editor for the Journal of Nanoscience and for Current Bionanotechnology. He has been involved in organizing several international symposia, conferences, and workshops, as well as guest editor of a special issue of Frontiers in Microbiology. His research focuses on the biological and biomimetic formation as well as organization of magnetic nanoparticles. Specifically, his group has pioneered microscopy technique and models to understand magneto-aerotaxis and to control magnetic nanopropellers.
Paul Bogdan is an assistant professor in the Ming Hsieh Department of Electrical Engineering at University of Southern California. His work has been recognized with a number of distinctions, including the 2012 A.G. Jordan Award from the Electrical and Computer Engineering Department, Carnegie Mellon University for outstanding Ph.D. thesis and service, the 2012 Best Paper Award from the Networks-on-Chip Symposium (NOCS), the 2012 D.O. Pederson Best Paper Award from IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, the 2012 Best Paper Award from the International Conference on Hardware/Software Codesign and System Synthesis (CODES+ISSS), the 2013 Best Paper Award from the Asia and South Pacific Design Automation Conference. His research interests include performance analysis and design methodologies for multicore systems, the theoretical foundations of cyber-physical systems, the modeling and analysis of bio-inspired computing, and the applications of statistical physics to biological systems and regenerative medicine.