Abstract
| Original language | Undefined |
|---|---|
| Title of host publication | Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Place of Publication | USA |
| Publisher | IEEE ROBOTICS AND AUTOMATION SOCIETY |
| Pages | 2053-2058 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 7 Nov 2013 |
| Event | 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 - Tokyo, Japan Duration: 3 Nov 2013 → 7 Nov 2013 http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2013/www.iros2013.org/index.html |
Publication series
| Name | |
|---|---|
| Publisher | IEEE Robotics and Automation Society |
| ISSN (Print) | 2153-0858 |
Conference
| Conference | 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 |
|---|---|
| Abbreviated title | IROS |
| Country | Japan |
| City | Tokyo |
| Period | 3/11/13 → 7/11/13 |
| Internet address |
Keywords
- EWI-24275
- METIS-302626
- IR-89377
Cite this
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Magnetic-based minimum input motion control of paramagnetic microparticles in three-dimensional space. / Khalil, I.S.M.; Metz, R.M.P.; Reefman, B.A.; Misra, Sarthak.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2013. p. 2053-2058.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Magnetic-based minimum input motion control of paramagnetic microparticles in three-dimensional space
AU - Khalil, I.S.M.
AU - Metz, R.M.P.
AU - Reefman, B.A.
AU - Misra, Sarthak
N1 - 10.1109/IROS.2013.6696631
PY - 2013/11/7
Y1 - 2013/11/7
N2 - Magnetic drug carriers such as microrobots and paramagnetic microparticles have the potential to increase the therapeutic indices by selectively targeting the diseased tissue. These magnetic microobjects can be controlled using magnetic-based manipulation systems. In this study, we analyze a minimum input motion control to minimize the currents at each of the electromagnets of a magnetic system. This minimum input control allows us to achieve point-to-point closed-loop motion control of microparticles in the three-dimensional space, at an average speed of 198 μm/s, and maximum root mean square position tracking error of 104 μm. The minimum input control system is further evaluated by comparing norm-2 of its resulting current vector to the current vector of a proportionalintegral (PI) control system. This comparison shows that the minimum input control achieves 11% decrease in the current input, as opposed to the PI control system. However, the PI control system achieves 43% and 285% higher average speed and positioning accuracy, respectively, as opposed to the minimum input controller. The magnetic-based minimum input control can be used to perform closed-loop control of magnetic microrobots while decreasing the current input.
AB - Magnetic drug carriers such as microrobots and paramagnetic microparticles have the potential to increase the therapeutic indices by selectively targeting the diseased tissue. These magnetic microobjects can be controlled using magnetic-based manipulation systems. In this study, we analyze a minimum input motion control to minimize the currents at each of the electromagnets of a magnetic system. This minimum input control allows us to achieve point-to-point closed-loop motion control of microparticles in the three-dimensional space, at an average speed of 198 μm/s, and maximum root mean square position tracking error of 104 μm. The minimum input control system is further evaluated by comparing norm-2 of its resulting current vector to the current vector of a proportionalintegral (PI) control system. This comparison shows that the minimum input control achieves 11% decrease in the current input, as opposed to the PI control system. However, the PI control system achieves 43% and 285% higher average speed and positioning accuracy, respectively, as opposed to the minimum input controller. The magnetic-based minimum input control can be used to perform closed-loop control of magnetic microrobots while decreasing the current input.
KW - EWI-24275
KW - METIS-302626
KW - IR-89377
U2 - 10.1109/IROS.2013.6696631
DO - 10.1109/IROS.2013.6696631
M3 - Conference contribution
SP - 2053
EP - 2058
BT - Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PB - IEEE ROBOTICS AND AUTOMATION SOCIETY
CY - USA
ER -