Buch, Englisch
Buch, Englisch
ISBN: 978-1-394-35651-5
Verlag: John Wiley & Sons Inc
Discover mobile magnetic actuation systems for manipulating magnetic small-scale robots
Exploring the latest advancements in the field, this book introduces mobile magnetic actuation systems, covering the principles, development, and their typical applications. Each chapter is complete with a discussion and conclusion, as well as experimental results when necessary.
Readers will find information on current topics such as field and force control methods for reconfigurable electromagnetic actuation systems, concluding with a summary of the design and integration strategies of magnetic actuation systems, as well as their future applications.
Other topics reviewed in Mobile Actuation Systems for Magnetic Small-scale Robots include: - Design and real-time optimization for a magnetic actuation system with enhanced flexibility, with information on autonomous navigation of a robot under ultrasound doppler imaging
- Mobile magnetic actuation systems for flow rate rejection control of microrobots, with guidance on construction of the control framework
- Reconfigurable electromagnetic actuation systems with large workspaces, covering multi-objective optimization methods for coil configuration generation
- Parallel-mobile-coil systems for wired magnetic microrobot, reviewing robotic hardware, structure design, and control frameworks
- Magnetically controlled guidewire robotic systems for vascular intervention, discussing mathematical modeling and trajectory planning
Offering a blend of theoretical insights and practical applications, Mobile Actuation Systems for Magnetic Small-scale Robots is an excellent resource for researchers, students, and professionals in robotics, computer science, control engineering, and biomedical engineering seeking state-of-the-art insights on the subject.
Autoren/Hrsg.
Fachgebiete
Weitere Infos & Material
About the Authors
Preface
List of Acronyms
Chapter 1: Introduction to Mobile Magnetic Actuation System
1.1 Introduction
1.2 Magnetic Actuation Systems
1.3 Development of magnetic actuation systems
1.4 Typical applications of magnetic actuation systems
1.5 Scope and Layout of the Book
Chapter 2: Design and Real-Time Optimization for a Magnetic Actuation System with Enhanced Flexibility
2.1 Introduction
2.2 System Design, Modeling, and Optimization
2.3 System Prototype and Validation
2.4 Autonomous Navigation of a Microrobot Under Ultrasound Doppler Imaging
2.5 Discussion and Conclusion
Chapter 3: Deep Reinforcement Learning Framework-Based System Control for Soft Microrobots
3.1 Introduction
3.2 System Design and Modeling
3.3 Construction of the Control Framework
3.4 Experimental Validation3.5 Discussion and Conclusion
Chapter 4: Reconfigurable Electromagnetic Actuation System and Robust Control in Fluid Environments
4.1 Introduction
4.2 System Design and Modeling
4.3 Multi-Objective Optimization Method for Coil Configuration Generation
4.4 System Validation and Analysis
4.5 Construction of Path Control Framework
4.6 Experimental Validation and Results4.7 Discussion and conclusion
Chapter 5: Performance-Guided Optimization and Field-Priority Force Control for Large Workspaces
5.1 Introduction
5.2 Performance-Guided Rotating Field Control Method
5.3 Field-Priority Force Control Method
5.4 Experimental Validation and Analysis
5.5 Discussion and Conclusion
Chapter 6: Multimode Control and Optimal Design of a Parallel-Mobile-Coil System
6.1 Introduction
6.2 System Design and Modeling
6.3 Multimode Control and Validation
6.4 System Structure Design with Parameter Optimization
6.5 Validation of Microrobotic Navigation Control
6.6 Discussion and Conclusion
Chapter 7: Autonomous Microrobot Navigation Using Parallel-Mobile-Coil System
7.1 Introduction
7.2 Design of Motion Planner and Motion Controller
7.3 Simulation and Experimental Validation
7.4 Control Scheme and Environment Registration
7.5 Experimental navigation in flowing conditions
7.6 Discussion and conclusion
Chapter 8: Magnetically Controlled Guidewire Robotic System for Vascular Intervention
8.1 Introduction
8.2 Design of The MCGRS
8.3 Modeling and Trajectory Planning
8.4 Experimental Setup and Validations
8.5 Strategy Design for Hard-to-Reach Vessels
8.6 In Vivo Validation of the Multistage Embolization Strategy
8.7 Discussion and Conclusion
Chapter 9: Parallel-Mobile-Coil System for Wired Magnetic Microrobot
9.1 Introduction
9.2 Robotic Hardware and Control Framework
9.3 Structure Design and Control Framework of WMM
9.4 Experimental Results and Discussion
9.5 Discussion and Conclusion
9.6 Micromanipulation by Compacts of Nanorobots
Chapter 10: Conclusion and Outlook
10.1 Design of Magnetic Actuation System
10.2 Integration Strategy of Imaging and Actuation System10.3 Application of Image-Integrated Mobile Magnetic Actuation System
Index
