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Mahmut Selman Sakar

Related publications (72)

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Electrokinetic and Optical Control of Bacterial Microrobots

Mahmut Selman Sakar

One of the great challenges in microscale science and engineering is the independent manipulation of cells and man-made objects on the micron scale. For such work, motile microorganisms are integrated with engineered systems to construct microbiorobots (MB ...

Institute of Physics2011

Experimental Study and Modeling of Group Retrieval in Ants as an Approach to Collective Transport in Swarm Robotics Systems

Mahmut Selman Sakar

Group food retrieval in some ant species serves as a useful paradigm for multirobot collective transport strategies that are decentralized, scalable, and do not require a priori information about the payload. We present a comprehensive overview of group re ...

2011

Modeling, Control, and Experimental Characterization of Microbiorobots

Mahmut Selman Sakar

In this paper, we describe how motile microorganisms can be integrated with engineered microstructures to develop a micro-bio-robotic system. SU-8 microstructures blotted with swarmer cells of Serratia Marcescens in a monolayer are propelled by the bacteri ...

SAGE Publications2011

Wireless manipulation of single cells using magnetic microtransporters

Mahmut Selman Sakar

For such biomedical applications as single cell manipulation and targeted delivery of chemicals, it is important to fabricate microstructures that can be powered and controlled without a tether in fluidic environments. In this work, we describe the constru ...

IEEE2011

Single Cell Manipulation using Ferromagnetic Composite Microtransporters

Mahmut Selman Sakar

For biomedical applications, such as single cell manipulation, it is important to fabricate microstructures that can be powered and controlled wirelessly in fluidic environments. In this letter, we describe the construction and operation of truly micron-si ...

American Institute of Physics2010

Biosensing and actuation for microbiorobots

Mahmut Selman Sakar

In this paper, we describe how signaling networks and actuation in bacterial cells and biomolecular networks of bacteria can be used to develop an integrated micro-bio-robotic system. SU8 microstructures blotted with swarmer cells of Serratia Marcescens in ...

IEEE2010

Nonholonomic source seeking in switching random fields

Mahmut Selman Sakar

We consider the problem of designing controllers for nonholonomic mobile robots converging to the source (minimum) of a field. In addition to the mobility constraints posed by the nonholonomic dynamics, we assume that the field is completely unknown to the ...

2010

Harnessing bacterial power in microscale actuation

Mahmut Selman Sakar

This paper presents a systematic analysis of the motion of microscale structures actuated by flagellated bacteria. We perform the study both experimentally and theoretically. We use a blotting procedure to attach flagellated bacteria to a buoyancy-neutral ...

IEEE2009

Hybrid Control and Transport Using Bacteria-Driven Microbiorobots

Mahmut Selman Sakar

We are examining techniques for manipulation of microfabricated elements using arrays of bacteria as microactuators. Flagellated Serratia marcescens bacteria are attached to microstructures using a blotting technique that creates a bacterial monolayer carp ...

ASME2009

Stochastic Modeling and Control of Biological Systems: The Lactose Regulation System of Escherichia coli

Mahmut Selman Sakar

In this paper, we present a comprehensive framework for stochastic modeling, model abstraction, and controller design for a biological system. The first half of the paper concerns modeling and model abstraction of the system. Most models in systems biology ...

Institute of Electrical and Electronics Engineers2008