From theory to application: Exploring the motion dynamics of microrobots

Microchemical Journal, Год журнала: 2025, Номер unknown, С. 112846 - 112846

Опубликована: Янв. 1, 2025

Язык: Английский

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Globally Linearizing Control for a Magnetic Microrobot Navigating Within a Blood Vessel

WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL, Год журнала: 2024, Номер 19, С. 247 - 254

Опубликована: Сен. 27, 2024

In this paper, the globally linearizing control scheme is employed to guide an endovascular magnetic microrobot navigating within a blood vessel with objective of reaching desired target following trajectory generated via joystick device. First, we derive 1D nonlinear dynamical model for microrobot. Subsequently, stabilizing state feedback designed based on relative degree from geometric control, resulting in closed-loop linear system. To ensure tracking time-varying and reject disturbances, external proportional-integral controller bias used define variable The performance GLC evaluated numerical simulations. obtained results demonstrate output disturbance rejection capabilities scheme.

Язык: Английский

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Advancements in Machine Learning for Microrobotics in Biomedicine

Advanced Intelligent Systems, Год журнала: 2024, Номер unknown

Опубликована: Ноя. 28, 2024

Microrobotics, particularly in the field of biomedicine, has garnered considerable attention due to its potential for noninvasive medical interventions enabled by small size microrobots. However, controlling and imaging them present unique challenges compared their macroscale counterparts, primarily intricate anatomical spaces dynamic environments within human body. Existing modalities also face limitations, hindering real‐time visualization control microrobots deep tissue. Machine learning (ML) algorithms offer promising solutions these enabling adaptive motion enhancing image resolution through robust data analysis decision‐making capabilities. In this review, a comprehensive overview recent advancements ML‐based techniques microrobotic research is provided, emphasizing applications biomedical contexts. Additionally, current obstacles future directions ML microrobotics, regarding translation clinical settings, are discussed.

Язык: Английский

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Enhanced Optimal Control of a Magnetically Actuated Capsule Endoscope Using Electromagnetic Coils Considering Small Intestine Dynamics

2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM), Год журнала: 2024, Номер unknown, С. 125 - 130

Опубликована: Дек. 17, 2024

Язык: Английский

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