کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Design and implementation of a 3D positioning and control capsule robot using magnetic waves

نویسندگان :

Hamidreza Mahmoodzadeh¹ Vahid Johari Majd² Abbas EhsaniSeresht³

1- Tarbiat Modares University 2- Tarbiat Modares University 3- Hakim Sabzevari University

کلمات کلیدی :

Capsule robot، endoscopy، sliding mode control، electromagnetic، image processing

چکیده :

Capsule endoscopy robots have been used to detect digestive diseases in recent years. This paper explores the design and implementation of capsule robot localization and control systems using magnetic waves. The built system includes five external electromagnetic coils, and a permanent magnet added to the inactive capsule robot, which is available on the market. The instantaneous position of the robot is calculated through image processing. Moreover, The speed of the robot and the coil’s current is measured using the rate of the position and the current sensor. A sliding mode controller is designed for 3D motion of the robot in the digestive system test environment in the lab. Our results show the suitable performance of the robot in tracking the desired position.

لیست مقالات

لیست مقالات بایگانی شده

Path Planning Design for Autonomous Underwater Vehicles in 3D Environments Avoiding Static Obstacles

Soheil Norouzi - Amirhossein Akhbari - Amir A. Ghavifekr

Control of Mobile Robots Using CLF-CBF-QP in Presence of LOE Fault

َAli Alavi Nasab - Mohammad Hassan Asemani

Self-powered WiFi-connected monitoring stations for environmental pollution app-based control in urban and industrial areas

Paolo Visconti - Roberto De Fazio - Ramiro Velazquez - Bassam Al-Naami - Amir Aminzadeh Ghavifekr

Decision Making for Autonomous Vehicles' Strategy in Triple-Lane Roundabout Intersections

Shadi Samizadeh - Amirhossein Nikoofard - Hossein Yektamoghadam

Attitude Error Compensation Using Adaptive Extended Kalman Filter for Low-cost GPS/INS

Javad Nayerabadi - Mohsen Mohammadi

Design of a Nonlinear Backstepping Versus Sliding Mode Controller for a Human Musculoskeletal Arm Model in Sagittal Plane

Behzad Saeedi - Milad Alizadeh - Majid Mohammadi Moghaddam - Majid Sadedel

Design and Optimizing of Smart IoT-based Irrigation Systems to Minimize Water Usage and Reduce Agriculture Costs

Amir Taha Farshbaf Fekri - Ata Dibazar - Amir A. Ghavifekr

Multivariable Nonlinear Control of Air-Handling Unit in HVAC System: Robust Sliding Mode Control

Fariba Bouzari Liavoli - Reza Shadi - Ahmad Fakharian

کنترل مقاوم سیستم‌های سوئیچ‌شونده خطی نامعین با کلیدزنی غیرهمزمان جامع در حضور اغتشاش

علی نصراللهی - علی اکبر افضلیان

Trajectory Planning and Simulation of Palletizing Robot Using MATLAB and Unity

Mohammad Sheibani - Amin Mojarrad Bahre - Armin Nasrollahi - Ali Rajabi

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.2.8