scholarly journals Design of a Laparoscopic Robot System Based on Spherical Magnetic Field

2019 ◽  
Vol 9 (10) ◽  
pp. 2070
Author(s):  
Hongxing Wei ◽  
Kaichao Li ◽  
Dong Xu ◽  
Wenshuai Tan
Keyword(s):  
Magnetic Field ◽  
Control Method ◽  
Open Loop ◽  
Surgical Instruments ◽  
Prototype System ◽  
Single Incision Laparoscopic Surgery ◽  
Robot System ◽  
Surgical Incision ◽  
Spherical Motor ◽  
External Driving

In single incision laparoscopic surgery (SILS), because the laparoscope and other surgical instruments share the same incision, the interferences between them constrain the dexterity of surgical instruments and affect the field of views of the laparoscope. Inspired by the structure of the spherical motor and the driving method of an intraocular micro robot, a fully inserted laparoscopic robot system is proposed, which consists of an inner laparoscopic robot and external driving device. The position and orientation control of the inner laparoscopic robot are controlled by a magnetic field generated by the driving device outside the abdominal wall. The instrumental interferences can be alleviated and better visual feedback can be obtained by keeping the laparoscopic robot away from the surgical incision. To verify the feasibility of the proposed structure and explore its control method, a prototype system is designed and fabricated. The electromagnetism model and the mechanical model of the laparoscopic robot system are established. Finally, the translational, rotational, and deflection motion of the laparoscopic robot are demonstrated in practical experiment, and the accuracy of deflection motion of the laparoscopic robot is verified in open-loop condition.

scholarly journals Consideration of Magnetic Measurements for Characterisation of Ferrite–Martensite Commercial Dual-Phase (DP) Steel and Basis for Optimisation of the Operating Magnetic Field for Open Loop Deployable Sensors

Metals ◽  
2021 ◽  
Vol 11 (3) ◽  
pp. 490
Author(s):  
Mohsen Aghadavoudi Jolfaei ◽  
Lei Zhou ◽  
Claire Davis
Keyword(s):  
Magnetic Field ◽  
Applied Magnetic Field ◽  
Magnetic Measurements ◽  
Initial Permeability ◽  
Open Loop ◽  
Dual Phase ◽  
Dp Steel ◽  
Ferrite Fraction ◽  
Lift Off ◽  
Steel Properties

The magnetic properties of commercial dual-phase (DP) steels (DP600, DP800 and DP1000 grades) were evaluated using initial permeability, incremental permeability and coercivity and correlated with the key microstructural differences between the grades. The ferrite grain sizes and ferrite fractions have been compared with the magnetic parameters obtained from minor and major magnetisation loops within each DP grade. It has been revealed that the incremental permeability increases with the applied magnetic field amplitude to reach a peak and then drops at a higher magnetic field, with the values being different for the three DP grades at a lower field and converging to a similar permeability value at the high field. The effects of ferrite grain size and phase fraction on the incremental permeability are considered, and it has been shown that the influence of ferrite grain boundaries on magnetic permeability is more dominant than the effect of ferrite fraction in commercial DP steel samples. An analysis of the correlation between coercivity and initial permeability with tensile strength shows that the initial permeability provides a slightly better prediction of strength for the steels examined, which is believed to be due to the fact that a combination of reversible and irreversible domain components affect the coercivity value, while the initial permeability is predominantly affected by reversible domain movements. Based on the trend between incremental permeability and applied magnetic field and the commercial EM sensor (EMspec) operating parameters, the effect of lift-off and hence magnetic field strength on the sensitivity to DP steel properties can be assessed.

Design and control of 2-DoF joystick using MR-fluid rotary actuator

2021 ◽  
pp. 1045389X2110639
Author(s):  
Bao Tri Diep ◽  
Quoc Hung Nguyen ◽  
Thanh Danh Le
Keyword(s):  
Pid Controller ◽  
Force Feedback ◽  
Control Method ◽  
Open Loop ◽  
Friction Torque ◽  
Feedback Controls ◽  
Loop Control ◽  
Fuzzy Logic Algorithm ◽  
Experimental Apparatus ◽  
Close Loop Control

The purpose of this paper is to design a control algorithm for a 2-DoF rotary joystick model. Firstly, the structure of the joystick, which composes of two magneto-rheological fluid actuators (shorten MRFA) with optimal configuration coupled perpendicularly by the gimbal mechanism to generate the friction torque for each independent rotary movement, is introduced. The control strategy of the designed joystick is then suggested. Really, because of two independent rotary movements, it is necessary to design two corresponding controllers. Due to hysteresis and nonlinear dynamic characteristics of the MRFA, controllers based an accurate dynamic model are difficult to realize. Hence, to release this issue, the proposed controller (named self-turning fuzzy controllers-STFC) will be built through the fuzzy logic algorithm in which the parameters of controllers are learned and trained online by Levenberg-Marquardt training algorithm. Finally, an experimental apparatus will be constructed to assess the effectiveness of the force feedback controls. Herein, three experimental cases are performed to compare the control performance of open-loop and close-loop control method, where the former is done through relationship between the force at the knob and the current supplied to coil while the latter is realized based on the proposed controller and PID controller. The experimental results provide strongly the ability of the proposed controller, meaning that the STFC is robust and tracks well the desirable force with high accuracy compared with both the PID controller and the open-loop control method.

DUTY-CYCLED SPINNING BASED 3D MOTION CONTROL APPROACH FOR BEVEL-TIPPED FLEXIBLE NEEDLE INSERTION

2018 ◽  
Vol 18 (07) ◽  
pp. 1840017 ◽  
Author(s):  
QIN YAO ◽  
XUMING ZHANG
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Tracking Error ◽  
Open Loop ◽  
Loop Control ◽  
3D Motion ◽  
Control Approach ◽  
Target Error ◽  
The Mean ◽  
Simulation Results

Flexible needle has been widely used in the therapy delivery because it can advance along the curved lines to avoid the obstacles like important organs and bones. However, most control algorithms for the flexible needle are still limited to address its motion along a set of arcs in the two-dimensional (2D) plane. To resolve this problem, this paper has proposed an improved duty-cycled spinning based three-dimensional (3D) motion control approach to ensure that the beveled-tip flexible needle can track a desired trajectory to reach the target within the tissue. Compared with the existing open-loop duty-cycled spinning method which is limited to tracking 2D trajectory comprised of few arcs, the proposed closed-loop control method can be used for tracking any 3D trajectory comprised of numerous arcs. Distinctively, the proposed method is independent of the tissue parameters and robust to such disturbances as tissue deformation. In the trajectory tracking simulation, the designed controller is tested on the helical trajectory, the trajectory generated by rapidly-exploring random tree (RRT) algorithm and the helical trajectory. The simulation results show that the mean tracking error and the target error are less than 0.02[Formula: see text]mm for the former two kinds of trajectories. In the case of tracking the helical trajectory, the mean tracking error target error is less than 0.5[Formula: see text]mm and 1.5[Formula: see text]mm, respectively. The simulation results prove the effectiveness of the proposed method.

scholarly journals Flatness-Based Control of a Two Degrees-of-Freedom Platform With Pneumatic Artificial Muscles

2018 ◽  
Vol 141 (2) ◽  
Author(s):  
David Bou Saba ◽  
Paolo Massioni ◽  
Eric Bideaux ◽  
Xavier Brun
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Volume Ratio ◽  
Open Loop ◽  
Control Technique ◽  
Artificial Muscles ◽  
Two Degrees Of Freedom ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are an interesting type of actuators as they provide high power-to-weight and power-to-volume ratio. However, their efficient use requires very accurate control methods taking into account their complex and nonlinear dynamics. This paper considers a two degrees-of-freedom platform whose attitude is determined by three pneumatic muscles controlled by servovalves. An overactuation is present as three muscles are controlled for only two degrees-of-freedom. The contribution of this work is twofold. First, whereas most of the literature approaches the control of systems of similar nature with sliding mode control, we show that the platform can be controlled with the flatness-based approach. This method is a nonlinear open-loop controller. In addition, this approach is model-based, and it can be applied thanks to the accurate models of the muscles, the platform and the servovalves, experimentally developed. In addition to the flatness-based controller, which is mainly a feedforward control, a proportional-integral (PI) controller is added in order to overcome the modeling errors and to improve the control robustness. Second, we solve the overactuation of the platform by an adequate choice for the range of the efforts applied by the muscles. In this paper, we recall the basics of this control technique and then show how it is applied to the proposed experimental platform. At the end of the paper, the proposed approach is compared to the most commonly used control method, and its effectiveness is shown by means of experimental results.

Realization of desired damping characteristics based on an open-loop-controlled magnetorheological damper

2021 ◽  
pp. 107754632110388
Author(s):  
Hongwei Lu ◽  
Zhifei Zhang ◽  
Yansong He ◽  
Zhi Li ◽  
Jujiang Xie ◽  
...  
Keyword(s):  
Control System ◽  
Control Method ◽  
Characteristic Curve ◽  
Mr Damper ◽  
Open Loop ◽  
Low Noise ◽  
Magnetorheological Damper ◽  
Bench Test ◽  
Damping Force ◽  
Damping Characteristics

The realization of the desired damping characteristics based on magnetorheological (MR) dampers is important for semi-active control and useful for the matching process of suspension damper. To reduce the cost of the control system and improve the output accuracy of the desired damping force, this study proposes an open-loop control method featuring an accurate inverse model of the MR damper and a tripolar current driver. The reversible sigmoid model is used to accurately and quickly calculate the desired current. Furthermore, the change characteristic of the desired current is analyzed qualitatively and quantitatively, which shows that the desired current needs to change suddenly to make the actual damping force velocity curve quickly approach the desired one. To meet the demand of the desired current, a tripolar current driver controlled by an improved PI control algorithm is proposed, which is with fast response and low noise. Finally, the bench test verifies that the control system can achieve different desired damping characteristics well, and the inherent error in this process is explained through the gap between the available damping force area and the desired damping characteristic curve and the crossover phenomenon of the dynamic characteristic curves of the MR damper.

scholarly journals Analysis and Design of an Air-Coupled DC Transformer with a Hybrid Modulation Control Method

Energies ◽  
2019 ◽  
Vol 12 (13) ◽  
pp. 2570
Author(s):  
Song Xu ◽  
Wei Jiang ◽  
Seiji Hashimoto
Keyword(s):  
Control Method ◽  
Open Loop ◽  
Energy Utilization ◽  
Modulation Method ◽  
Transfer Model ◽  
Power Transfer ◽  
Analysis And Design ◽  
Hybrid Modulation ◽  
Model Control ◽  
Dc Transformer

DC micro-grid is gaining increasing attention recently due to its highly efficient energy utilization and flexible energy exchange capabilities. In this paper, an air-coupled DC–DC transformer is proposed for the interconnection between the active load and the DC microgrid. The generic problems in an air-coupled power transfer system without ferromagnetic structure are discussed. A bidirectional half-bridge topology is also proposed to suit the characteristics of the stationary load and to realize the bidirectional power transfer between the active DC load and the DC grid. A Hybrid Modulation Method (HMM) is proposed; the small signal model is derived and linear control techniques are applied to the forward power transfer control, and phase model control is applied to the reverse power transfer model. The open-loop system is simulated by PSIM to get the characteristics of the forward and reverse transfer model, and the closed system is built in the MATLAB/SIMULINK to verify the effect of the forward frequency control method and the reverse phase control method. The prototype is built with a dsPIC controller, tests are performed to evaluate the characteristics of the transformer and the power flow control of the bidirectional power transfer.

Application of Sonic Nozzle in Unsteady Flow Rate Generating System for Compressible Fluid

2014 ◽  
Vol 496-500 ◽  
pp. 703-706
Author(s):  
Xiao Xin Wang ◽  
Tao Wang ◽  
Jun Zheng Wang
Keyword(s):  
Unsteady Flow ◽  
Flow Rate ◽  
Compressible Fluid ◽  
Control Method ◽  
Open Loop ◽  
Inlet Flow ◽  
Sonic Nozzle ◽  
Technical Requirements ◽  
Inlet Flow Rate ◽  
Generating System

To meet the requirement of unsteady flow rate generating system for compressible fluid, an inlet flow rate control method with sonic nozzle is proposed. When inlet flow rate is known, feedback of unsteady flow rate can be obtained by an isothermal tank. A proper sonic nozzle is designed according to the technical requirements, and the flow rate is calculated. Open loop experiments are carried out on generating system with and without sonic nozzle. The results indicate that influence of downstream on upstream can be greatly reduced by the designed sonic nozzle, and accurate feedback of unsteady flow rate is ensured.

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