2D Magnetic Actuation and Localization of a Surface Milli-Roller in Low Reynolds Numbers
| Autor: | Mina M. Micheal, Alaa Adel, Chang-Sei Kim, Jong-Oh Park, Sarthak Misra, Islam S. M. Khalil |
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| Přispěvatelé: | Robotics and image-guided minimally-invasive surgery (ROBOTICS), Basic and Translational Research and Imaging Methodology Development in Groningen (BRIDGE), Man, Biomaterials and Microbes (MBM), Surgical Robotics, Biomechanical Engineering, TechMed Centre, MESA+ Institute |
| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: |
medical robots and systems
Control and Optimization Sensors micro Mechanical Engineering motion control Location awareness Biomedical Engineering Computer Science Applications Human-Computer Interaction Magnetoacoustic effects Magnetic resonance imaging Artificial Intelligence Control and Systems Engineering Localization Magnetic sensors Computer Vision and Pattern Recognition Sensor arrays Observers nano robots |
| Zdroj: | IEEE Robotics and Automation Letters, 7(2), 3874-3881. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC IEEE Robotics and automation letters, 7(2), 3874-3881. IEEE |
| ISSN: | 2377-3766 |
| DOI: | 10.1109/lra.2022.3148787 |
| Popis: | Magnetic actuation of minimally invasive medical tetherless devices holds great promise in several biomedical applications. However, there are still several challenges in noninvasive localization, both in terms of sensing detectable signals of these devices and estimating their states. In this work, a magnetic milli-roller is actuated in a viscous fluid under the influence of a rotating magnetic field. A Lyapunov-based nonlinear state observer is designed and implemented to estimate the position of the roller using a 2D array of Hall-effect sensors. We show that the local stability of the state observer yields convergence to one of the local equilibria, for pre-defined levels of sensor noise, initial conditions, and modeling errors. Performance is quantified using redundant measurements of the fields and we investigate the influence of the number of magnetic field measurements on the observability of the system. Open-loop actuation and state estimation are demonstrated and experimental results show that the localization of a 5 mm diameter roller along sinusoidal, circular and square trajectories achieve a steady-state mean absolute position error of 2.3mm, 1.67mm and 1.73mm, respectively. |
| Databáze: | OpenAIRE |
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