Precise Model-Free Spline-Based Approach for Magnetic Field Mapping

Federico Ongaro (Corresponding Author), Christoff M. Heunis (Corresponding Author), Sarthak Misra

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Abstract

Untethered magnetic manipulation has found applications in a rapidly increasing number of fields, ranging from minimally invasive surgery to assembly of industrial micro electromechanical systems. Despite this relevance, present-day literature on precise magnetic mapping is sparse, especially for magnetic fields affected by external disturbances. In this work, we address this deficiency by introducing a model-free mapping technique. Remarkably, the presented spline-based approach is capable of addressing the presence of inhomogeneous static disturbances and the mapping of non-azimuthally symmetric electromagnets. The work is validated with the mapping of nine metal-core electromagnets in the presence of inhomogeneous static disturbances. A grid of 5120 measurements is collected, by a custom-programed robotic arm, and used for mapping. Further, the values predicted by the approach are compared against 3430 independent field measurements, obtaining an R 2 value of 0.9884 and maximum relative errors of 7%. Overall, this spline-based approach provides a flexible technique for the precise mapping of electromagnetic fields and gradients even when, for reasons regarding coil shape or disturbances, the electromagnetic field does not present any axial symmetry.
Original languageEnglish
Article number8540879
Number of pages5
JournalIEEE Magnetics Letters
Volume10
Early online date20 Nov 2018
DOIs
Publication statusPublished - 1 Jan 2019

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Splines
Magnetic fields
Electromagnets
Electromagnetic fields
Robotic arms
Surgery
MEMS
Metals

Cite this

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title = "Precise Model-Free Spline-Based Approach for Magnetic Field Mapping",
abstract = "Untethered magnetic manipulation has found applications in a rapidly increasing number of fields, ranging from minimally invasive surgery to assembly of industrial micro electromechanical systems. Despite this relevance, present-day literature on precise magnetic mapping is sparse, especially for magnetic fields affected by external disturbances. In this work, we address this deficiency by introducing a model-free mapping technique. Remarkably, the presented spline-based approach is capable of addressing the presence of inhomogeneous static disturbances and the mapping of non-azimuthally symmetric electromagnets. The work is validated with the mapping of nine metal-core electromagnets in the presence of inhomogeneous static disturbances. A grid of 5120 measurements is collected, by a custom-programed robotic arm, and used for mapping. Further, the values predicted by the approach are compared against 3430 independent field measurements, obtaining an R 2 value of 0.9884 and maximum relative errors of 7{\%}. Overall, this spline-based approach provides a flexible technique for the precise mapping of electromagnetic fields and gradients even when, for reasons regarding coil shape or disturbances, the electromagnetic field does not present any axial symmetry.",
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Precise Model-Free Spline-Based Approach for Magnetic Field Mapping. / Ongaro, Federico (Corresponding Author); Heunis, Christoff M. (Corresponding Author); Misra, Sarthak.

In: IEEE Magnetics Letters, Vol. 10, 8540879, 01.01.2019.

Research output: Contribution to journalArticleAcademicpeer-review

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AU - Heunis, Christoff M.

AU - Misra, Sarthak

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AB - Untethered magnetic manipulation has found applications in a rapidly increasing number of fields, ranging from minimally invasive surgery to assembly of industrial micro electromechanical systems. Despite this relevance, present-day literature on precise magnetic mapping is sparse, especially for magnetic fields affected by external disturbances. In this work, we address this deficiency by introducing a model-free mapping technique. Remarkably, the presented spline-based approach is capable of addressing the presence of inhomogeneous static disturbances and the mapping of non-azimuthally symmetric electromagnets. The work is validated with the mapping of nine metal-core electromagnets in the presence of inhomogeneous static disturbances. A grid of 5120 measurements is collected, by a custom-programed robotic arm, and used for mapping. Further, the values predicted by the approach are compared against 3430 independent field measurements, obtaining an R 2 value of 0.9884 and maximum relative errors of 7%. Overall, this spline-based approach provides a flexible technique for the precise mapping of electromagnetic fields and gradients even when, for reasons regarding coil shape or disturbances, the electromagnetic field does not present any axial symmetry.

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