Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields

Mahmoud E. Alshafeei; Abdelrahman Hosney; Anke Klingner; Sarthak Misra; Islam S.M. Khalil

doi:10.1109/biorob.2014.6913768

Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields

Mahmoud E. Alshafeei, Abdelrahman Hosney, Anke Klingner, Sarthak Misra, Islam S.M. Khalil

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

18 Citations (Scopus)

15 Downloads (Pure)

Abstract

This work addresses the magnetic-based control of a helical robot and the mitigation of the magnetic forces on its dipole moment during radial steering using rotating permanent magnets. A magnetic system with two synchronized permanent magnets that rotate quasistatically is used to move the helical robot (length and diameter of 12.5 mm and 4 mm, respectively). We experimentally demonstrate that using two synchronized permanent magnets for radial steering of a helical robot achieves higher motion stability, as opposed to propulsion using single rotating dipole field. The two synchronized dipole fields decrease the lateral oscillation (average peak-to-peak amplitude) of the helical robot by 37%, compared to the radial steering using a single dipole field at angular velocity of 31 rad/s. We also show that driving the helical robot using two synchronized rotating magnets achieves average swimming speed of 2.1 mm/s, whereas the single rotating dipole field achieves average swimming speed of 0.4 mm/s at angular velocity of 31 rad/s for the rotating permanent magnets. The proposed configuration of the helical propulsion allows us to decrease the magnetic forces that could cause tissue damage or potential trauma for in vivo applications.

Original language	English
Title of host publication	2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Editors	Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
Publisher	IEEE Computer Society
Pages	151-156
Number of pages	6
ISBN (Electronic)	9781479931262
DOIs	https://doi.org/10.1109/biorob.2014.6913768
Publication status	Published - 30 Sep 2014
Event	5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Palacio das Convenções Anhembi, Sao Paulo, Brazil Duration: 12 Aug 2014 → 15 Aug 2014 Conference number: 5

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)	2155-1774

Conference

Conference	5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Abbreviated title	BioRob
Country/Territory	Brazil
City	Sao Paulo
Period	12/08/14 → 15/08/14

Keywords

22/3 OA procedure

Access to Document

10.1109/biorob.2014.6913768

Alshafeei-2014-Magnetic-based-motion-control-of-a-Final published version, 872 KBLicence: Taverne

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Alshafeei, M. E., Hosney, A., Klingner, A., Misra, S., & Khalil, I. S. M. (2014). Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields. In R. Carloni, L. Masia, J. M. Sabater-Navarro, M. Ackermann, S. Agrawal, A. Ajoudani, P. Artemiadis, M. Bianchi, A. P. Lanari Bo, M. Casadio, K. Cleary, A. Deshpande, D. Formica, M. Fumagalli, N. Garcia-Aracil, S. B. Godfrey, I. S. M. Khalil, O. Lambercy, R. C. V. Loureiro, L. Mattos, V. Munoz, H-S. Park, L. E. Rodriguez Cheu, R. Saltaren, A. A. G. Siqueira, V. Squeri, A. H. A. Stienen, N. Tsagarakis, H. Van der Kooij, B. Vanderborght, N. Vitiello, J. Zariffa, ... L. Zollo (Eds.), 2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 151-156). [6913768] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society. https://doi.org/10.1109/biorob.2014.6913768

Alshafeei, Mahmoud E. ; Hosney, Abdelrahman ; Klingner, Anke et al. / Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields. 2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. editor / Raffaella Carloni ; Lorenzo Masia ; Jose Maria Sabater-Navarro ; Marko Ackermann ; Sunil Agrawal ; Arash Ajoudani ; Panagiotis Artemiadis ; Matteo Bianchi ; Antonio Padilha Lanari Bo ; Maura Casadio ; Kevin Cleary ; Ashish Deshpande ; Domenico Formica ; Matteo Fumagalli ; Nicolas Garcia-Aracil ; Sasha Blue Godfrey ; Islam S.M. Khalil ; Olivier Lambercy ; Rui C. V. Loureiro ; Leonardo Mattos ; Victor Munoz ; Hyung-Soon Park ; Luis Eduardo Rodriguez Cheu ; Roque Saltaren ; Adriano A. G. Siqueira ; Valentina Squeri ; Arno H.A. Stienen ; Nikolaos Tsagarakis ; Herman Van der Kooij ; Bram Vanderborght ; Nicola Vitiello ; Jose Zariffa ; Loredana Zollo. IEEE Computer Society, 2014. pp. 151-156 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

@inproceedings{b04c6d13cc1345728b126c89a4f4f696,

title = "Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields",

abstract = "This work addresses the magnetic-based control of a helical robot and the mitigation of the magnetic forces on its dipole moment during radial steering using rotating permanent magnets. A magnetic system with two synchronized permanent magnets that rotate quasistatically is used to move the helical robot (length and diameter of 12.5 mm and 4 mm, respectively). We experimentally demonstrate that using two synchronized permanent magnets for radial steering of a helical robot achieves higher motion stability, as opposed to propulsion using single rotating dipole field. The two synchronized dipole fields decrease the lateral oscillation (average peak-to-peak amplitude) of the helical robot by 37%, compared to the radial steering using a single dipole field at angular velocity of 31 rad/s. We also show that driving the helical robot using two synchronized rotating magnets achieves average swimming speed of 2.1 mm/s, whereas the single rotating dipole field achieves average swimming speed of 0.4 mm/s at angular velocity of 31 rad/s for the rotating permanent magnets. The proposed configuration of the helical propulsion allows us to decrease the magnetic forces that could cause tissue damage or potential trauma for in vivo applications.",

keywords = "22/3 OA procedure",

author = "Alshafeei, {Mahmoud E.} and Abdelrahman Hosney and Anke Klingner and Sarthak Misra and Khalil, {Islam S.M.}",

year = "2014",

month = sep,

day = "30",

doi = "10.1109/biorob.2014.6913768",

language = "English",

series = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",

publisher = "IEEE Computer Society",

pages = "151--156",

editor = "Raffaella Carloni and Lorenzo Masia and Sabater-Navarro, {Jose Maria} and Marko Ackermann and Sunil Agrawal and Arash Ajoudani and Panagiotis Artemiadis and Matteo Bianchi and {Lanari Bo}, {Antonio Padilha} and Maura Casadio and Kevin Cleary and Ashish Deshpande and Domenico Formica and Matteo Fumagalli and Nicolas Garcia-Aracil and Godfrey, {Sasha Blue} and Khalil, {Islam S.M.} and Olivier Lambercy and Loureiro, {Rui C. V.} and Leonardo Mattos and Victor Munoz and Hyung-Soon Park and {Rodriguez Cheu}, {Luis Eduardo} and Roque Saltaren and Siqueira, {Adriano A. G.} and Valentina Squeri and Stienen, {Arno H.A.} and Nikolaos Tsagarakis and {Van der Kooij}, Herman and Bram Vanderborght and Nicola Vitiello and Jose Zariffa and Loredana Zollo",

booktitle = "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014",

address = "United States",

note = "5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, BioRob ; Conference date: 12-08-2014 Through 15-08-2014",

}

Alshafeei, ME, Hosney, A, Klingner, A, Misra, S & Khalil, ISM 2014, Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields. in R Carloni, L Masia, JM Sabater-Navarro, M Ackermann, S Agrawal, A Ajoudani, P Artemiadis, M Bianchi, AP Lanari Bo, M Casadio, K Cleary, A Deshpande, D Formica, M Fumagalli, N Garcia-Aracil, SB Godfrey, ISM Khalil, O Lambercy, RCV Loureiro, L Mattos, V Munoz, H-S Park, LE Rodriguez Cheu, R Saltaren, AAG Siqueira, V Squeri, AHA Stienen, N Tsagarakis, H Van der Kooij, B Vanderborght, N Vitiello, J Zariffa & L Zollo (eds), 2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014., 6913768, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE Computer Society, pp. 151-156, 5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, 12/08/14. https://doi.org/10.1109/biorob.2014.6913768

Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields. / Alshafeei, Mahmoud E.; Hosney, Abdelrahman; Klingner, Anke et al.

2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. ed. / Raffaella Carloni; Lorenzo Masia; Jose Maria Sabater-Navarro; Marko Ackermann; Sunil Agrawal; Arash Ajoudani; Panagiotis Artemiadis; Matteo Bianchi; Antonio Padilha Lanari Bo; Maura Casadio; Kevin Cleary; Ashish Deshpande; Domenico Formica; Matteo Fumagalli; Nicolas Garcia-Aracil; Sasha Blue Godfrey; Islam S.M. Khalil; Olivier Lambercy; Rui C. V. Loureiro; Leonardo Mattos; Victor Munoz; Hyung-Soon Park; Luis Eduardo Rodriguez Cheu; Roque Saltaren; Adriano A. G. Siqueira; Valentina Squeri; Arno H.A. Stienen; Nikolaos Tsagarakis; Herman Van der Kooij; Bram Vanderborght; Nicola Vitiello; Jose Zariffa; Loredana Zollo. IEEE Computer Society, 2014. p. 151-156 6913768 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields

AU - Alshafeei, Mahmoud E.

AU - Hosney, Abdelrahman

AU - Klingner, Anke

AU - Misra, Sarthak

AU - Khalil, Islam S.M.

N1 - Conference code: 5

PY - 2014/9/30

Y1 - 2014/9/30

N2 - This work addresses the magnetic-based control of a helical robot and the mitigation of the magnetic forces on its dipole moment during radial steering using rotating permanent magnets. A magnetic system with two synchronized permanent magnets that rotate quasistatically is used to move the helical robot (length and diameter of 12.5 mm and 4 mm, respectively). We experimentally demonstrate that using two synchronized permanent magnets for radial steering of a helical robot achieves higher motion stability, as opposed to propulsion using single rotating dipole field. The two synchronized dipole fields decrease the lateral oscillation (average peak-to-peak amplitude) of the helical robot by 37%, compared to the radial steering using a single dipole field at angular velocity of 31 rad/s. We also show that driving the helical robot using two synchronized rotating magnets achieves average swimming speed of 2.1 mm/s, whereas the single rotating dipole field achieves average swimming speed of 0.4 mm/s at angular velocity of 31 rad/s for the rotating permanent magnets. The proposed configuration of the helical propulsion allows us to decrease the magnetic forces that could cause tissue damage or potential trauma for in vivo applications.

AB - This work addresses the magnetic-based control of a helical robot and the mitigation of the magnetic forces on its dipole moment during radial steering using rotating permanent magnets. A magnetic system with two synchronized permanent magnets that rotate quasistatically is used to move the helical robot (length and diameter of 12.5 mm and 4 mm, respectively). We experimentally demonstrate that using two synchronized permanent magnets for radial steering of a helical robot achieves higher motion stability, as opposed to propulsion using single rotating dipole field. The two synchronized dipole fields decrease the lateral oscillation (average peak-to-peak amplitude) of the helical robot by 37%, compared to the radial steering using a single dipole field at angular velocity of 31 rad/s. We also show that driving the helical robot using two synchronized rotating magnets achieves average swimming speed of 2.1 mm/s, whereas the single rotating dipole field achieves average swimming speed of 0.4 mm/s at angular velocity of 31 rad/s for the rotating permanent magnets. The proposed configuration of the helical propulsion allows us to decrease the magnetic forces that could cause tissue damage or potential trauma for in vivo applications.

KW - 22/3 OA procedure

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U2 - 10.1109/biorob.2014.6913768

DO - 10.1109/biorob.2014.6913768

M3 - Conference contribution

AN - SCOPUS:84918584535

T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

SP - 151

EP - 156

BT - 2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014

A2 - Carloni, Raffaella

A2 - Masia, Lorenzo

A2 - Sabater-Navarro, Jose Maria

A2 - Ackermann, Marko

A2 - Agrawal, Sunil

A2 - Ajoudani, Arash

A2 - Artemiadis, Panagiotis

A2 - Bianchi, Matteo

A2 - Lanari Bo, Antonio Padilha

A2 - Casadio, Maura

A2 - Cleary, Kevin

A2 - Deshpande, Ashish

A2 - Formica, Domenico

A2 - Fumagalli, Matteo

A2 - Garcia-Aracil, Nicolas

A2 - Godfrey, Sasha Blue

A2 - Khalil, Islam S.M.

A2 - Lambercy, Olivier

A2 - Loureiro, Rui C. V.

A2 - Mattos, Leonardo

A2 - Munoz, Victor

A2 - Park, Hyung-Soon

A2 - Rodriguez Cheu, Luis Eduardo

A2 - Saltaren, Roque

A2 - Siqueira, Adriano A. G.

A2 - Squeri, Valentina

A2 - Stienen, Arno H.A.

A2 - Tsagarakis, Nikolaos

A2 - Van der Kooij, Herman

A2 - Vanderborght, Bram

A2 - Vitiello, Nicola

A2 - Zariffa, Jose

A2 - Zollo, Loredana

PB - IEEE Computer Society

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Alshafeei ME, Hosney A, Klingner A, Misra S , Khalil ISM. Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields. In Carloni R, Masia L, Sabater-Navarro JM, Ackermann M, Agrawal S, Ajoudani A, Artemiadis P, Bianchi M, Lanari Bo AP, Casadio M, Cleary K, Deshpande A, Formica D, Fumagalli M, Garcia-Aracil N, Godfrey SB, Khalil ISM, Lambercy O, Loureiro RCV, Mattos L, Munoz V, Park H-S, Rodriguez Cheu LE, Saltaren R, Siqueira AAG, Squeri V, Stienen AHA, Tsagarakis N, Van der Kooij H, Vanderborght B, Vitiello N, Zariffa J, Zollo L, editors, 2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE Computer Society. 2014. p. 151-156. 6913768. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/biorob.2014.6913768

Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields

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