3D Navigation Control of Untethered Magnetic Microrobot in Centimeter-Scale Workspace Based on Field-of-View Tracking Scheme
被引:24
作者:
Zheng, Liushuai
论文数: 0引用数: 0
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机构:
City Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China
Univ Sci & Technol China, Dept Automat, Hefei 230052, Peoples R ChinaCity Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China
Zheng, Liushuai
[1
,2
]
Jia, Yuanjun
论文数: 0引用数: 0
h-index: 0
机构:
City Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R ChinaCity Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China
Jia, Yuanjun
[1
]
Dong, Dingran
论文数: 0引用数: 0
h-index: 0
机构:
City Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R ChinaCity Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China
Dong, Dingran
[1
]
Lam, Wahshing
论文数: 0引用数: 0
h-index: 0
机构:
City Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R ChinaCity Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China
Lam, Wahshing
[1
]
Li, Dongfang
论文数: 0引用数: 0
h-index: 0
机构:
City Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R ChinaCity Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China
Li, Dongfang
[1
]
Ji, Haibo
论文数: 0引用数: 0
h-index: 0
机构:
Univ Sci & Technol China, Dept Automat, Hefei 230052, Peoples R ChinaCity Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China
Ji, Haibo
[2
]
Sun, Dong
论文数: 0引用数: 0
h-index: 0
机构:
City Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China
City Univ Hong Kong, Shenzhen Res Inst, Ctr Robot & Automat, Shenzhen 518057, Peoples R ChinaCity Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China
Sun, Dong
[1
,3
]
机构:
[1] City Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China
[2] Univ Sci & Technol China, Dept Automat, Hefei 230052, Peoples R China
[3] City Univ Hong Kong, Shenzhen Res Inst, Ctr Robot & Automat, Shenzhen 518057, Peoples R China
Cameras;
Magnetic resonance imaging;
Three-dimensional displays;
Navigation;
Electromagnets;
Electromagnetics;
Magnetic hysteresis;
3D navigation;
field-of-view tracking;
prescribed performance control;
untethered magnetic microrobot;
NONLINEAR-SYSTEMS;
ROBUST-CONTROL;
D O I:
10.1109/TRO.2021.3118205
中图分类号:
TP24 [机器人技术];
学科分类号:
080202 ;
1405 ;
摘要:
Automatic 3D navigation control of microrobot in large microenvironment is one of the primary challenges hindering its applications. In this article, we present a systematic approach to use an electromagnetic manipulation system to deal with this challenge. Two movable orthogonal microscopic cameras scan the microenvironment on the top view and side view to build a stereo occupancy map automatically. The initial position of microrobot can be located on the basis of the similarity curves generated by the scanning sequences. In accordance with the distribution characteristic of electromagnetic fields in workspace, an enhanced rapidly exploring random tree algorithm is proposed to avoid obstacles in the complex environment. To ensure continuous visual servo in wide range, a field-of-view tracking method is developed using a specific image definition evaluation algorithm. A prescribed performance controller with disturbance observer is designed, which guarantees that the microrobot can remain in the view of microscopic cameras, and the transient and steady-state performance of the system can satisfy the expected requirements. A set of experiments are performed to verify the effectiveness of the proposed automatic 3D navigation strategy. Experimental results show that the microrobot can navigate automatically in a $\bm {12\,\times 10\,\times \text{10-mm}}$ microenvironment containing obstacles, and achieve reliable field-of-view tracking and path following at high speed.
机构:
Korea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Chonnam Natl Univ, Sch Mech Engn, 77 Yongbong Ro, Gwangju 61186, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Go, Gwangjun
Jeong, Sin-Gu
论文数: 0引用数: 0
h-index: 0
机构:
Biot Korea Inc, 43-26 Chemdangwagi Ro 208 Beon Gil, Gwangju 61001, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Jeong, Sin-Gu
Yoo, Ami
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Yoo, Ami
Han, Jiwon
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Han, Jiwon
Kang, Byungjeon
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Kang, Byungjeon
Kim, Seokjae
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Kim, Seokjae
论文数: 引用数:
h-index:
机构:
Nguyen, Tien Kim
Jin, Zhen
论文数: 0引用数: 0
h-index: 0
机构:
Xinxiang Med Univ, Sch Biomed Engn, Xinxiang 453003, Henan, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Jin, Zhen
论文数: 引用数:
h-index:
机构:
Kim, Chang-Sei
Seo, Yu Ri
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Ctr Joint Dis, Hwasun Hosp, 160 Ilsim Ri, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Seo, Yu Ri
Kang, Ju Yeon
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Ctr Joint Dis, Hwasun Hosp, 160 Ilsim Ri, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Kang, Ju Yeon
Na, Ju Yong
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Ctr Joint Dis, Hwasun Hosp, 160 Ilsim Ri, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Na, Ju Yong
Song, Eun Kyoo
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Ctr Joint Dis, Hwasun Hosp, 160 Ilsim Ri, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Song, Eun Kyoo
Jeong, Yongyeon
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Dept Radiol, Hwasun Hosp, 322 Hwasun Eup, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Jeong, Yongyeon
Seon, Jong Keun
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Ctr Joint Dis, Hwasun Hosp, 160 Ilsim Ri, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
机构:
Korea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Chonnam Natl Univ, Sch Mech Engn, 77 Yongbong Ro, Gwangju 61186, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Go, Gwangjun
Jeong, Sin-Gu
论文数: 0引用数: 0
h-index: 0
机构:
Biot Korea Inc, 43-26 Chemdangwagi Ro 208 Beon Gil, Gwangju 61001, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Jeong, Sin-Gu
Yoo, Ami
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Yoo, Ami
Han, Jiwon
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Han, Jiwon
Kang, Byungjeon
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Kang, Byungjeon
Kim, Seokjae
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South KoreaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Kim, Seokjae
论文数: 引用数:
h-index:
机构:
Nguyen, Tien Kim
Jin, Zhen
论文数: 0引用数: 0
h-index: 0
机构:
Xinxiang Med Univ, Sch Biomed Engn, Xinxiang 453003, Henan, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Jin, Zhen
论文数: 引用数:
h-index:
机构:
Kim, Chang-Sei
Seo, Yu Ri
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Ctr Joint Dis, Hwasun Hosp, 160 Ilsim Ri, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Seo, Yu Ri
Kang, Ju Yeon
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Ctr Joint Dis, Hwasun Hosp, 160 Ilsim Ri, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Kang, Ju Yeon
Na, Ju Yong
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Ctr Joint Dis, Hwasun Hosp, 160 Ilsim Ri, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Na, Ju Yong
Song, Eun Kyoo
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Ctr Joint Dis, Hwasun Hosp, 160 Ilsim Ri, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Song, Eun Kyoo
Jeong, Yongyeon
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Dept Radiol, Hwasun Hosp, 322 Hwasun Eup, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea
Jeong, Yongyeon
Seon, Jong Keun
论文数: 0引用数: 0
h-index: 0
机构:
Chonnam Natl Univ, Ctr Joint Dis, Hwasun Hosp, 160 Ilsim Ri, Hwasun 58128, Peoples R ChinaKorea Inst Med Microrobot KIMIRo, 43-26 Cheomdangwagi Ro, Gwangju 61011, South Korea