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Adaptive path tracking of magnetic microrobot in arterial environments

Authors:

Hangkuan Li,

Siyu Zhang,

Meijuan Li,

Xuebo ChenAuthors Info & Claims

RICAI '22: Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence

Pages 37 - 41

https://doi.org/10.1145/3584376.3584383

Published: 19 April 2023 Publication History

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Abstract

In this paper, a magnetic microrobot is selected as the research object to study the motion of the robot in the arterial flow field environment, and an adaptive path tracking method is used to track the magnetic microrobot's path in the arterial environment. Firstly, the mathematical model of the arterial flow field environment is obtained by finite element method simulation. Then a dynamics model is established based on a magnetically driven helical microrobot, so that the robot can do controlled motion under the joint action of the flow field environment and the magnetic field environment. Finally, a microrobot path tracking method based on the vector field method is designed, which feasibility is validated through modeling and parameter optimization.

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Liu ZYu PLi MChen X(2023)Dynamic Simulation of Magnetically Controlled Micro- and Nanorobots in a Blood Vessel2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI)10.1109/RICAI60863.2023.10489612(12-17)Online publication date: 1-Dec-2023
https://doi.org/10.1109/RICAI60863.2023.10489612

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RICAI '22: Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence

December 2022

1396 pages

ISBN:9781450398343

DOI:10.1145/3584376

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

New York, NY, United States

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Published: 19 April 2023

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RICAI 2022: 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence

December 16 - 18, 2022

Dongguan, China

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Liu ZYu PLi MChen X(2023)Dynamic Simulation of Magnetically Controlled Micro- and Nanorobots in a Blood Vessel2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI)10.1109/RICAI60863.2023.10489612(12-17)Online publication date: 1-Dec-2023
https://doi.org/10.1109/RICAI60863.2023.10489612

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Motion control of a magnetically levitated microrobot using magnetic flux measurement

Motion Performance evaluation of a Magnetic Actuated Screw Jet Microrobot

Adaptive Controller and Observer for a Magnetic Microrobot

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