Wireless magnetic-based control of paramagnetic microparticles

Khalil, I.S.M. and Keuning, J.D. and Abelmann, L. and Misra, S. (2012) Wireless magnetic-based control of paramagnetic microparticles. In: Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, NioRob 2012, 24-27 June 2012, Rome, Italy .

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Abstract:	This work investigates modeling and control of microparticles that could be guided inside the human body using external magnetic fields. Proposed areas of applications for these microparticles include but not limited to minimally invasive surgeries, diagnosis and sensing. The problem is formulated by modeling a magnetic prototype system which has been developed for the purpose of wireless motion control of microparticles. A control system is devised based on the waypoint approach to control the navigation of the microparticles in a fluid. In addition, a path planning procedure based on a combination of the potential field and the A∗ approaches is investigated in order to control the motion of the microparticles in the presence of static and dynamic obstacles. The experimental verification is conducted on a magnetic system designed for manipulation of microparticles. The experimental results demonstrates the motion control of microparticles with maximum steady state position tracking error of 8.6 μm within a 2.4 mm×1.8 mm workspace.
Item Type:	Conference or Workshop Item
Copyright:	© 2012 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE) Transducers Science and Technology (TST)
Link to this item:	http://purl.utwente.nl/publications/82104
Official URL:	http://dx.doi.org/10.1109/BioRob.2012.6290856
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