Six-Degree-of-Freedom Localization of an Untethered Magnetic Capsule Using a Single Rotating Magnetic Dipole
Six-Degree-of-Freedom Localization of an Untethered Magnetic Capsule Using a Single Rotating Magnetic Dipole
复制标题
DOI：
10.1109/lra.2016.2608421
复制
发表时间：
2017-01-01
影响因子：
5.2
通讯作者：
Abbott, Jake J.
中科院分区：
文献类型：
--
作者：
Popek, Katie M.;Schmid, Thomas;Abbott, Jake J.
本文提出了一种利用旋转偶极子磁场来估计嵌入永磁体和霍尔效应传感器的磁性胶囊六自由度位姿的方法。刻画了该方法的收敛性质，它是外场不同旋转轴个数和绕每个轴完整旋转个数的函数。在我们测试的工作空间中，定位误差为4.9+/-2.7 mm和3.3+/-1.7度(平均+/-标准偏差)。我们的实验证明，这足以推动螺杆型磁性胶囊通过一个管腔，使用一个单一的偶极来推动和定位胶囊。
This paper presents a method to estimate the six-degree-of-freedom pose of a magnetic capsule, with an embedded permanent magnet and Hall-effect sensors, using a rotating dipole field. The method's convergence properties as a function of the number of distinct rotation axes of the applied field and the number of complete rotations about each axis are characterized. Across our tested workspace, the localization error was 4.9 +/- 2.7 mm and 3.3 +/- 1.7 degrees (mean +/- standard deviation). We experimentally demonstrate this is sufficient for propulsion of a screw-type magnetic capsule through a lumen using a single dipole to both propel and localize the capsule.