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Electromagnetic Steering of a Magnetic Cylindrical Microrobot Using Optical Feedback Closed-Loop Control

Title
Electromagnetic Steering of a Magnetic Cylindrical Microrobot Using Optical Feedback Closed-Loop Control
Authors
Ghanbari, A[Ghanbari, Ali]Chang, PH[Chang, Pyung H.]Nelson, BJ[Nelson, Bradley J.]Choi, H[Choi, Hongsoo]
DGIST Authors
Ghanbari, A[Ghanbari, Ali]; Chang, PH[Chang, Pyung H.]; Nelson, BJ[Nelson, Bradley J.]; Choi, H[Choi, Hongsoo]
Issue Date
2014-04-03
Citation
International Journal of Optomechatronics, 8(2), 129-145
Type
Article
Article Type
Article
Keywords
Closed-Loop ControlData Communication EquipmentDynamic ResponseFeedbackMagnetic ActuationMagnetic MicrorobotMagnetismMedical ApplicationsMicro RobotsReynolds NumberSiliconesTime-Delay Estimation (TDE)Time DelayTime Delay Estimation (TDE)ViscosityViscous FlowVisual CommunicationVisual Feedback
ISSN
1559-9612
Abstract
Control of small magnetic machines in viscous fluids may enable new medical applications of microrobots. Small-scale viscous environments lead to low Reynolds numbers, and although the flow is linear and steady, the magnetic actuation introduces a dynamic response that is nonlinear. We account for these nonlinearities, and the uncertainties in the dynamic and magnetic properties of the microrobot, by using time-delay estimation. The microrobot consists of a cylindrical magnet, 1 mm long and 500 μm in diameter, and is tracked using a visual feedback system. The microrobot was placed in silicone oil with a dynamic viscosity of 1 Pa.s, and followed step inputs with rise times of 0.45 s, 0.51 s, and 1.77 s, and overshoots of 37.5%, 33.3%, and 34.4% in the x, y, and z directions, respectively. In silicone oil with a viscosity of 3 Pa.s, the rise times were 1.04 s, 0.72 s, and 2.19 s, and the overshoots were 47.8%, 48.5%, and 86.8%. This demonstrates that closed-loop control of the magnetic microrobot was better in the less viscous fluid. © 2014 Copyright Taylor & Francis Group, LLC.
URI
http://hdl.handle.net/20.500.11750/1586
DOI
10.1080/15599612.2014.901454
Publisher
Taylor and Francis Inc.
Related Researcher
  • Author Choi, Hong Soo Bio-Micro Robotics Lab
  • Research Interests Micro/Nano robot; Neural prostheses; MEMS; BMI; MEMS/NEMS; BioMEMS; MEMS 초음파 트랜스듀스; 인공와우
Files:
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Collection:
Robotics EngineeringRehabilitation Robotics Lab1. Journal Articles


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