Magnetic-based minimum input motion control of paramagnetic microparticles in three-dimensional space

I.S.M. Khalil, R.M.P. Metz, B.A. Reefman, Sarthak Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    11 Citations (Scopus)
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    Abstract

    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.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages2053-2058
    Number of pages6
    DOIs
    Publication statusPublished - 7 Nov 2013
    Event2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 - Tokyo, Japan
    Duration: 3 Nov 20137 Nov 2013
    http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2013/www.iros2013.org/index.html

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society
    ISSN (Print)2153-0858

    Conference

    Conference2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013
    Abbreviated titleIROS
    CountryJapan
    CityTokyo
    Period3/11/137/11/13
    Internet address

    Keywords

    • EWI-24275
    • METIS-302626
    • IR-89377

    Cite this

    Khalil, I. S. M., Metz, R. M. P., Reefman, B. A., & Misra, S. (2013). Magnetic-based minimum input motion control of paramagnetic microparticles in three-dimensional space. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2053-2058). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/IROS.2013.6696631