Full metadata record
DC Field | Value | Language |
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dc.contributor.author | Ghanbari, Ali | - |
dc.contributor.author | Chang, Pyung H. | - |
dc.contributor.author | Nelson, Bradley J. | - |
dc.contributor.author | Choi, Hongsoo | - |
dc.date.available | 2017-05-11T01:37:45Z | - |
dc.date.created | 2017-04-10 | - |
dc.date.issued | 2014-04 | - |
dc.identifier.issn | 1559-9612 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/1586 | - |
dc.description.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. | - |
dc.publisher | Taylor and Francis Inc. | - |
dc.title | Electromagnetic Steering of a Magnetic Cylindrical Microrobot Using Optical Feedback Closed-Loop Control | - |
dc.type | Article | - |
dc.identifier.doi | 10.1080/15599612.2014.901454 | - |
dc.identifier.scopusid | 2-s2.0-84899724547 | - |
dc.identifier.bibliographicCitation | International Journal of Optomechatronics, v.8, no.2, pp.129 - 145 | - |
dc.description.isOpenAccess | FALSE | - |
dc.subject.keywordAuthor | visual feedback | - |
dc.subject.keywordAuthor | magnetic microrobot | - |
dc.subject.keywordAuthor | magnetic actuation | - |
dc.subject.keywordAuthor | closed-loop control | - |
dc.subject.keywordAuthor | time-delay estimation | - |
dc.subject.keywordPlus | TIME-DELAY ESTIMATION | - |
dc.subject.keywordPlus | PROPULSION | - |
dc.subject.keywordPlus | BACTERIA | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.subject.keywordPlus | FABRICATION | - |
dc.subject.keywordPlus | MOTION | - |
dc.citation.endPage | 145 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 129 | - |
dc.citation.title | International Journal of Optomechatronics | - |
dc.citation.volume | 8 | - |