Cited 3 time in
Cited 3 time in
Electromagnetic Steering of a Magnetic Cylindrical Microrobot Using Optical Feedback Closed-Loop Control
- Electromagnetic Steering of a Magnetic Cylindrical Microrobot Using Optical Feedback Closed-Loop Control
- Ghanbari, Ali; Chang, Pyung H.; Nelson, Bradley J.; Choi, Hongsoo
- DGIST Authors
- Ghanbari, Ali; Nelson, Bradley J.; Choi, Hongsoo
- Issue Date
- International Journal of Optomechatronics, 8(2), 129-145
- Article Type
- Closed-Loop Control; Data Communication Equipment; Dynamic Response; Feedback; Magnetic Actuation; Magnetic Microrobot; Magnetism; Medical Applications; Micro Robots; Reynolds Number; Silicones; Time-Delay Estimation (TDE); Time Delay; Time Delay Estimation (TDE); Viscosity; Viscous Flow; Visual Communication; Visual Feedback
- 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.
- Taylor and Francis Inc.
- Related Researcher
Choi, Hong Soo
Bio-Micro Robotics Lab
Micro/Nano robot; Neural prostheses; MEMS; BMI; MEMS/NEMS; BioMEMS; MEMS 초음파 트랜스듀스; 인공와우
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- Department of Robotics EngineeringBio-Micro Robotics Lab1. Journal Articles
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