NDLI: Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields

Content Provider	IEEE Xplore Digital Library
Author	Alshafeei, M.E. Hosney, A. Klingner, A. Misra, S. Khalil, I.S.M.
Copyright Year	2014
Description	Author affiliation: Inst. for Biomed. Technol. & Tech. Med., Univ. of Twente, Enschede, Netherlands (Misra, S.) \|\| German Univ. in Cairo, Cairo, Egypt (Alshafeei, M.E.; Hosney, A.; Klingner, A.; Khalil, I.S.M.)
Abstract	This work addresses the magnetic-based control of a helical robot and the mitigation of the magnetic forces on its dipole moment during radial steering using rotating permanent magnets. A magnetic system with two synchronized permanent magnets that rotate quasistatically is used to move the helical robot (length and diameter of 12.5 mm and 4 mm, respectively). We experimentally demonstrate that using two synchronized permanent magnets for radial steering of a helical robot achieves higher motion stability, as opposed to propulsion using single rotating dipole field. The two synchronized dipole fields decrease the lateral oscillation (average peak-to-peak amplitude) of the helical robot by 37%, compared to the radial steering using a single dipole field at angular velocity of 31 rad/s. We also show that driving the helical robot using two synchronized rotating magnets achieves average swimming speed of 2.1 mm/s, whereas the single rotating dipole field achieves average swimming speed of 0.4 mm/s at angular velocity of 31 rad/s for the rotating permanent magnets. The proposed configuration of the helical propulsion allows us to decrease the magnetic forces that could cause tissue damage or potential trauma for in vivo applications.
Starting Page	151
Ending Page	156
File Size	888863
Page Count	6
File Format	PDF
ISBN	9781479931262
ISSN	21551774
e-ISBN	9781479931286
DOI	10.1109/BIOROB.2014.6913768
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-12
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetic moments Propulsion Permanent magnets Angular velocity Electron tubes Synchronization Robots
Content Type	Text
Resource Type	Article

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