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

9 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
Khalil, I.S.M. ; Metz, R.M.P. ; Reefman, B.A. ; Misra, Sarthak. / Magnetic-based minimum input motion control of paramagnetic microparticles in three-dimensional space. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2013. pp. 2053-2058
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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.",
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Khalil, ISM, Metz, RMP, Reefman, BA & 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). IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 2053-2058, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 3/11/13. https://doi.org/10.1109/IROS.2013.6696631

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 proceedingConference contributionAcademicpeer-review

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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.

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Khalil ISM, Metz RMP, Reefman BA, Misra S. 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). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2013. p. 2053-2058 https://doi.org/10.1109/IROS.2013.6696631