2D Magnetic Actuation and Localization of a Surface Milli-Roller in Low Reynolds Numbers
2D Magnetic Actuation and Localization of a Surface Milli-Roller in Low Reynolds Numbers
复制标题
低雷诺数表面毫滚子的二维磁驱动和定位
DOI：
10.1109/lra.2022.3148787
复制
发表时间：
2022
影响因子：
5.2
通讯作者：
I. Khalil
中科院分区：
文献类型：
--
作者：
Mina M. Micheal;Alaa Adel;Chang;Jong;S. Misra;I. Khalil
微创医疗无绳装置的磁致动在几种生物医学应用中具有很大的前景。然而，在非侵入性定位中仍然存在一些挑战，无论是在感测这些设备的可检测信号还是估计它们的状态方面。在这项工作中，磁毫辊驱动下的旋转磁场的影响下的粘性流体。基于李雅普诺夫非线性状态观测器的设计和实施，估计使用二维阵列的霍尔效应传感器的辊的位置。我们表明，局部稳定的状态观测器产生收敛到一个局部平衡，传感器噪声，初始条件和建模误差的预定义水平。使用冗余测量的领域的性能进行量化，我们调查的磁场测量的数量对系统的可观测性的影响。开环驱动和状态估计的演示和实验结果表明，定位的5 mm直径的辊沿着正弦，圆形和方形轨迹实现稳态平均绝对位置误差分别为2.3 mm，1.67 mm和1.73 mm。
Magnetic actuation of minimally invasive medical tetherless devices holds great promise in several biomedical applications. However, there are still several challenges in noninvasive localization, both in terms of sensing detectable signals of these devices and estimating their states. In this work, a magnetic milli-roller is actuated in a viscous fluid under the influence of a rotating magnetic field. A Lyapunov-based nonlinear state observer is designed and implemented to estimate the position of the roller using a 2D array of Hall-effect sensors. We show that the local stability of the state observer yields convergence to one of the local equilibria, for pre-defined levels of sensor noise, initial conditions, and modeling errors. Performance is quantified using redundant measurements of the fields and we investigate the influence of the number of magnetic field measurements on the observability of the system. Open-loop actuation and state estimation are demonstrated and experimental results show that the localization of a 5 mm diameter roller along sinusoidal, circular and square trajectories achieve a steady-state mean absolute position error of 2.3mm, 1.67mm and 1.73mm, respectively.
影响因子：
3.4
作者：
Niedert EE;Bi C;Adam G;Lambert E;Solorio L;Goergen CJ;Cappelleri DJ
通讯作者：
Cappelleri DJ