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    3D Path-Following using MRAC on a Millimeter-Scale Spiral-Type Magnetic Robot

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    3D Path-Following Using MRAC on a Millimenter-Scale Spiral-Type Magnetic Robot.pdf (3.590Mb)
    Links to Files
    https://ieeexplore.ieee.org/document/8968428
    Permanent Link
    https://doi.org/10.1109/LRA.2020.2969159
    http://hdl.handle.net/11603/17492
    Collections
    • UMBC Computer Science and Electrical Engineering Department
    • UMBC Student Collection
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    Author/Creator
    Zhao, Haoran
    Leclerc, Julien
    Feucht, Maria
    Bailey, Olivia
    Becker, Aaron T.
    Date
    2020-01-24
    Type of Work
    8 pages
    Text
    conference papers and proceedings preprints
    Citation of Original Publication
    Zhao, Haoran; Leclerc, Julien; Feucht, Maria; Bailey, Olivia; Becker, Aaron T.; 3D Path-Following using MRAC on a Millimeter-Scale Spiral-Type Magnetic Robot; IEEE Robotics and Automation Letters 5,2 (2020); https://ieeexplore.ieee.org/document/8968428
    Rights
    This item is likely protected under Title 17 of the U.S. Copyright Law. Unless on a Creative Commons license, for uses protected by Copyright Law, contact the copyright holder or the author.
    © 2020 IEEE
    Abstract
    This paper focuses on the 3D path-following of a spiral-type helical magnetic swimmer in a water-filled workspace. The swimmer has a diameter of 2.5 mm, a length of 6 mm, and is controlled by an external time-varying magnetic field. A method to compensate undesired magnetic gradient forces is proposed and tested. Five swimmer designs with different thread pitch values were experimentally analyzed. All were controlled by the same model reference adaptive controller (MRAC). Compared to a conventional hand-tuned PI controller, their 3D path-following performance is significantly improved by using MRAC. At an average speed of 50 mm/s, the path-following mean error of the MRAC is 3.8±1.8 mm, less than one body length of the swimmer. The versatility of this new controller is demonstrated by analyzing path-following through obstacles on a helical trajectory and forward & backward motion.


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    Albin O. Kuhn Library & Gallery
    University of Maryland, Baltimore County
    1000 Hilltop Circle
    Baltimore, MD 21250
    www.umbc.edu/scholarworks

    Contact information:
    Email: scholarworks-group@umbc.edu
    Phone: 410-455-3021


    If you wish to submit a copyright complaint or withdrawal request, please email mdsoar-help@umd.edu.