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  Department of Robotics and Mechatronics Engineering Theses Ph.D.

Magnetic Actuation, Mapping, and Control in Microrobotics: Actuation System for Human Brain, 3D Field Mapping, and Adaptive Feedback Control

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dc.contributor.advisor 최홍수 -
dc.contributor.author Ahmed Awais -
dc.date.accessioned 2026-01-23T10:59:04Z -
dc.date.available 2026-01-23T10:59:04Z -
dc.date.issued 2025 -
dc.identifier.uri https://scholar.dgist.ac.kr/handle/20.500.11750/59769 -
dc.identifier.uri http://dgist.dcollection.net/common/orgView/200000888888 -
dc.description Magnetic Actuation, Magnetic Mapping, Adaptive Control, Microrobotics -
dc.description.tableofcontents 1. Miniature Robots: Biomedical Applications and Actuation Methods 1
1.1. Classification of Miniature Magnetic Robots 3
1.1.1. Tethered Miniature Robots 4
1.1.2. Untethered Miniature Robots 6
1.2. Magnetic Actuation Principle 7
1.3. Magnetic Actuation Systems 8
1.1.1. Permanent Magnet Based Systems 9
1.1.1.1. Single Magnet based Systems 10
1.1.1.2. Multiple Magnets based Systems 12
1.1.2. Electromagnet Based Systems 14
1.1.2.1. Paired Coils Systems 15
1.1.2.2. Distributed Coils Systems 16
2. Scope and Research Objectives 20
2.1. Magnetic actuation at human scale 21
2.2. Real-time magnetic field mapping 28
2.3. Adaptive feedback control for microrobots 32
3. BrainMag: Development of a Human-Scale, 5-DOF Electromagnetic Actuation System for Microrobotic Applications in the Brain 37
3.1. Design and Development of BrainMag 39
3.1.1. Coil and Configuration Design: 39
3.1.2. BrainMag Structure, Assembly, and Safety 43
3.1.3. Design of Electronics Control Box (ECB) 47
3.1.3.1. Distribution Box 50
3.1.3.2. Power Supplies 51
3.1.3.3. Motor Drivers (H-Bridges) 52
3.1.3.4. Current Sensor 54
3.1.3.5. Interface Board 55
3.1.4. Current Calculation 56
3.1.5. Graphical User Interface (GUI) 58
3.2. Characterization of BrainMag 61
3.2.1. Coil Linearity 61
3.2.2. Workspace Mapping 63
3.2.3. Magnetic field/Gradient Maxima, Isotropy and Uniformity 66
3.2.4. Dynamic magnetic field generation 71
3.3. Experimental Validation 75
3.3.1. Navigation of Tethered Microrobot 75
3.3.2. Navigation of Untethered Microrobot with Magnetic Force 78
3.3.3. Navigation of Untethered Microrobot with Rotating Magnetic Field 82
3.4. Conclusion 85
3.5. Future Work 87
4. MagMaps: An Economical, Lego-Like Approach for Real-Time Magnetic Field Mapping Using Commercial Magnetic Sensors108 89
4.1. Working Principle of MagMaps: 91
4.1.1. MagBrick 92
4.1.2. MasterBrick 95
4.1.3. Software 97
4.1.4. Lego Inspired Assembly 102
4.2. Validation of Magnetometer MLX90393 103
4.3. 2D/3D Magnetic Field Mapping with MagMaps 104
4.3.1. Magnetic Field Mapping of a Permanent Magnet 104
4.3.2. Magnetic Field Mapping of a Field-Free Line and a Uniform Field 107
4.3.3. Magnetic Field Mapping of OctoMag 110
4.3.4. Magnetic Field Mapping of BrainMag 113
4.4. Conclusion 118
4.5. Future Work 120
5. An Input Saturation-Tolerant Position Control Method for Magnetic Microrobots Using Adaptive Fuzzy Sliding-Mode Method136 123
5.1. Collaboration Disclaimer: 123
5.2. Introduction 124
5.3. Problem Definition 125
5.4. Brief Overview of AFSMC 129
5.5. Experimental Setup 131
5.6. Navigation Experiments 133
5.6.1. TDC vs AFSMC: Trajectory Tracking 133
5.6.2. TDC vs AFSMC: Different Viscous Media 139
5.6.3. AFSMC Under External Disturbances 140
5.6.4. AFSMC in a confined space – Aorta Phantom 143
5.7. Conclusion 147
5.8. Future Work 148
6. Conclusion 150
7. Future Work 154
Acknowledgments 156
List of achievements 157
Journal publications 157
Conferences 158
Patents 159
References 160
마이크로로보틱스에서의 자기 구동, 매핑 및 제어: 인간 뇌용 구동 시스템, 3D 자기장 매핑, 그리고 적응형 피드백 제어 170
요 약 문 170		 -
dc.format.extent 172 -
dc.language eng -
dc.publisher DGIST -
dc.title Magnetic Actuation, Mapping, and Control in Microrobotics: Actuation System for Human Brain, 3D Field Mapping, and Adaptive Feedback Control -
dc.type Thesis -
dc.identifier.doi 10.22677/THESIS.200000888888 -
dc.description.degree Doctor -
dc.contributor.department Department of Robotics and Mechatronics Engineering -
dc.contributor.coadvisor Yong-Seok Oh -
dc.date.awarded 2025-08-01 -
dc.publisher.location Daegu -
dc.description.database dCollection -
dc.citation XT.RD AH286 202508 -
dc.date.accepted 2025-07-21 -
dc.contributor.alternativeDepartment 로봇및기계전자공학과 -
dc.subject.keyword Magnetic Actuation, Magnetic Mapping, Adaptive Control, Microrobotics -
dc.contributor.affiliatedAuthor Ahmed Awais -
dc.contributor.affiliatedAuthor Hongsoo Choi -
dc.contributor.affiliatedAuthor Yong-Seok Oh -
dc.contributor.alternativeName 아메드 아웨이스 -
dc.contributor.alternativeName Hongsoo Choi -
dc.contributor.alternativeName 오용석 -
dc.rights.embargoReleaseDate 2030-08-31 -
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