NDLI: Interaction force estimation during manipulation of microparticles

Content Provider	IEEE Xplore Digital Library
Author	Khalil, I.S.M. Metz, R.M.P. Abelmann, L. Misra, S.
Copyright Year	2012
Description	Author affiliation: University of Twente, The Netherlands (Khalil, I.S.M.; Metz, R.M.P.; Abelmann, L.; Misra, S.)
Abstract	This work investigates the utilization of microparticles for the wireless sensing of interaction forces in magnetic-based manipulation systems. The proposed force estimation approach allows for using microparticles in sensing the interaction forces at hard-to-reach regions to avoid the mechanical and electronic complexities associated with physical force sensors. Based on the velocity of the microparticle and the applied currents at each of the electromagnets of the magnetic system, an interaction force observer is designed to estimate the contact forces between the microparticle and a soft-tissue simulant with different elasticities. Experimentally, a magnetic system is utilized to steer a microparticle towards a soft-tissue simulant to carry out force sensing. The experimental results show that forces in the range of nano-Newton can be estimated without nano-force sensors. The estimated interaction forces due to this contact can be used either in sensing and diagnosis applications, or in the realization of a force control system.
Starting Page	950
Ending Page	956
File Size	940341
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386184
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Observers Force sensors Wireless sensor networks Wireless communication Magnetic moments
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Event-driven Gaussian process for object localization in wireless sensor networks

Force sensing using artificial magnetic cilia

Shape estimation of flexible cable

Combining touch and vision for the estimation of an object's pose during manipulation

Entropy-aware cluster-based object tracking for camera Wireless Sensor Networks

Improving robot manipulation through fingertip perception

Realtime recognition of complex daily activities using dynamic Bayesian network

Magnetotactic bacteria and microjets: A comparative study

Image-based magnetic control of paramagnetic microparticles in water

Interaction force estimation during manipulation of microparticles

Similar Documents

Event-driven Gaussian process for object localization in wireless sensor networks

Force sensing using artificial magnetic cilia

Shape estimation of flexible cable

Combining touch and vision for the estimation of an object's pose during manipulation

Entropy-aware cluster-based object tracking for camera Wireless Sensor Networks

Improving robot manipulation through fingertip perception

Realtime recognition of complex daily activities using dynamic Bayesian network

Magnetotactic bacteria and microjets: A comparative study

Image-based magnetic control of paramagnetic microparticles in water

Interaction force estimation during manipulation of microparticles