NDLI: Magnetic-based minimum input motion control of paramagnetic microparticles in three-dimensional space

Content Provider	IEEE Xplore Digital Library
Author	Khalil, I.S.M. Metz, R.M.P. Reefman, B.A. Misra, S.
Copyright Year	2013
Description	Author affiliation: Univ. of Twente, Enschede, Netherlands (Khalil, I.S.M.; Metz, R.M.P.; Reefman, B.A.; Misra, S.)
Abstract	Magnetic drug carriers such as microrobots and paramagnetic microparticles have the potential to increase the therapeutic indices by selectively targeting the diseased tissue. These magnetic microobjects can be controlled using magnetic-based manipulation systems. In this study, we analyze a minimum input motion control to minimize the currents at each of the electromagnets of a magnetic system. This minimum input control allows us to achieve point-to-point closed-loop motion control of microparticles in the three-dimensional space, at an average speed of 198 μm/s, and maximum root mean square position tracking error of 104 μm. The minimum input control system is further evaluated by comparing norm-2 of its resulting current vector to the current vector of a proportional-integral (PI) control system. This comparison shows that the minimum input control achieves 11% decrease in the current input, as opposed to the PI control system. However, the PI control system achieves 43% and 285% higher average speed and positioning accuracy, respectively, as opposed to the minimum input controller. The magnetic-based minimum input control can be used to perform closed-loop control of magnetic microrobots while decreasing the current input.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2053
Ending Page	2058
File Size	2020339
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696631
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Pi control Electromagnets Vectors Tracking Aerospace electronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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
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