Abstract-In this paper, we show how to combine microfluidics and feedback control to independently steer multiple particles with micrometer accuracy in two spatial dimensions. The particles are steered by creating a fluid flow that carries all the particles from where they are to where they should be at each time step. Our control loop comprises sensing, computation, and actuation to steer particles along user-input trajectories. Particle locations are identified in real-time by an optical system and transferred to a control algorithm that then determines the electrode voltages necessary to create a flow field to carry all the particles to their next desired locations. The process repeats at the next time instant. Our method achieves inexpensive steering of particles by using conventional electroosmotic actuation in microfluidic channels. This type of particle steering does not require optical traps and can noninvasively steer neutral or charged particles and objects that cannot be captured by laser tweezers. (Laser tweezers cannot steer reflective particles, or particles where the index of refraction is lower than (or for more sophisticated optical vortex holographic tweezers does not differ substantially from) that of the surrounding medium.) We show proof-of-concept PDMS devices, having four and eight electrodes, with control algorithms that can steer one and three particles, respectively. In particular, we demonstrate experimentally that it is possible to use electroosmotic flow to accurately steer and trap multiple particles at once.[1541]

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We present a method for manipulating preselected quantum dots (QDs) with nanometer precision by flow control. The accuracy of this approach scales more favorably with particle size than optical trapping, enabling more precise positioning of nanoscopic particles. We demonstrate the ability to position a single QD in a 100 microm working region to 45 nm accuracy for holding times exceeding one hour and the ability to take active quantum measurements on the dynamically manipulated QD.

We demonstrate a technique for the precise immobilization of nanoscale objects at accurate positions on two-dimensional surfaces. We have developed a water-based photoresist that causes nanostructures such as colloidal quantum dots to segregate to a thin layer at surfaces. By combining this material with electroosmotic feedback control, we demonstrate the ability to position selected, individual quantum dots at specific locations and to immobilize them with 130 nm precision via localized UV exposure.

Any single permanent or electro magnet will always attract a magnetic fluid. For this reason it is difficult to precisely position and manipulate ferrofluid at a distance from magnets. We develop and experimentally demonstrate optimal (minimum electrical power) 2-dimensional manipulation of a single droplet of ferrofluid by feedback control of 4 external electromagnets. The control algorithm we have developed takes into account, and is explicitly designed for, the nonlinear (fast decay in space, quadratic in magnet strength) nature of how the magnets actuate the ferrofluid, and it also corrects for electro-magnet charging time delays. With this control, we show that dynamic actuation of electro-magnets held outside a domain can be used to position a droplet of ferrofluid to any desired location and steer it along any desired path within that domain -an example of precision control of a ferrofluid by magnets acting at a distance. KeywordsMagnetic particles; magnetic carriers; nano-particles; ferrofluid; magnetic drug delivery; manipulation at a distance; control; feedback; electromagnets; dielectrophoresis IntroductionWe consider an initial ferrofluid control problem: the precise manipulation of a single drop of ferrofluid by four external electromagnets. Precision control is achieved by feedback: we sense the location of the droplet by a camera and imaging software and then correctly actuate the electromagnets at each time to move it from where it is to closer to where it should be (Figure 1). Repeating this magnetic correction at each time quickly forces the droplet to the desired stationary or moving target and allows us to precisely control its position over time.Control design, the mathematical development of the algorithm that determines how to turn on the magnets to create the needed position correction at each time, is challenging. It is recognized that each magnet can only pull the fluid towards it; any single magnet cannot