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

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dc.contributor.authorZhao, Haoran
dc.contributor.authorLeclerc, Julien
dc.contributor.authorFeucht, Maria
dc.contributor.authorBailey, Olivia
dc.contributor.authorBecker, Aaron T.
dc.date.accessioned2020-03-05T17:36:56Z
dc.date.available2020-03-05T17:36:56Z
dc.date.issued2020-01-24
dc.descriptionIEEE Robotics and Automation Letters ( Volume: 5 , Issue: 2 , April 2020 )en_US
dc.description.abstractThis 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.en_US
dc.description.sponsorshipThis work was supported by the National Science Foundation under Grant No. [IIS-1553063], [IIS-1619278], and [CNS-1646566]. All opinions and conclusions or recommendations expressed in this work reflect the views of authors not our sponsors. A provisional patent application was filed as U.S. App. No. 62/778,671.en_US
dc.description.urihttps://ieeexplore.ieee.org/document/8968428en_US
dc.format.extent8 pagesen_US
dc.genreconference papers and proceedings preprintsen_US
dc.identifierdoi:10.13016/m2wwwu-kg7m
dc.identifier.citationZhao, 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/8968428en_US
dc.identifier.urihttps://doi.org/10.1109/LRA.2020.2969159
dc.identifier.urihttp://hdl.handle.net/11603/17492
dc.language.isoen_USen_US
dc.publisherIEEEen_US
dc.relation.isAvailableAtThe University of Maryland, Baltimore County (UMBC)
dc.relation.ispartofUMBC Computer Science and Electrical Engineering Department Collection
dc.relation.ispartofUMBC Student Collection
dc.rightsThis 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.
dc.rights© 2020 IEEE
dc.title3D Path-Following using MRAC on a Millimeter-Scale Spiral-Type Magnetic Roboten_US
dc.typeTexten_US

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