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Completing the Fabrication of Magnetic Micro-swimmer Positioning System and Designing an Optimal Controller to Minimize Energy Consumption

Moradi, Ata | 2019

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 52068 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat, Hossein; Saidi, Mohammad Said
  7. Abstract:
  8. Micro-Robotics is implemented by researchers inclusively in last decades in different fields such as, biolotechnology, space, army and medical engineering. However, micropositioning is the main challenge in such projects, since determination and control of micro-robot’s position for drug delivery, artificial insemination and other medical applications are too significant. In this thesis, a method for controlling a microswimmer’s position in two dimention by an external magnetic field has been proposed. Modelling of magnetic field and magnetic gradient are some important challenges due to the fact that in control loop, a fast and optimal model for estimation of magnetic filed and gradient is needed. This modelling has been done by Second order curve fitting for magnetic field and gradient, to eliminate integral calculation in each point. Morover, rotational and translational dynamics and kinematics of the micro-swimmer have been provided, which is essential for controller design and predicting of movement. Then, different controllers have been designed to optimize energy consumption and increase tracking accuracy. One of these controllers is model predictive control with firefly algorithem, which is innovative in optimization method of cost function, and considered slope of changes in control input. In the last chapter, the micro-swimmer has been made with some design challenges, like mass and magnetic moment. In addition, magnetic micro positioning system that consists of six magnetic coils has been used in control process. Results demonstrate that the micro-swimmer is able to follow the desired rout and achieve the goal real-time
  9. Keywords:
  10. Micro Robot ; Microswimmer ; Optimal Control ; Predictive Control ; Firefly Optimization Algorithm ; Magnetic Field Control ; Positioning

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