Completion of Electromagnetic System and Design of Robust Controller to Control the Movement of Micro-robots in Three-Dimensional Space, M.Sc. Thesis Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
Today, the need to access very small environments is felt in various medical, industrial, biological and military fields. Due to their small size, microrobots have the ability to perform tasks that would be very difficult to do on a larger scale, but this ability of microrobots makes feeding and controlling them challenging. There are several methods for providing power and control of microrobots, which include their internal or external stimulation, among which the magnetic stimulation method is used in this research, which does not cause damage to body tissues.In this thesis, an electromagnetic system with nine cylindrical coils is used to control the three-dimensional movement of magnetic...
Cataloging briefCompletion of Electromagnetic System and Design of Robust Controller to Control the Movement of Micro-robots in Three-Dimensional Space, M.Sc. Thesis Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
Today, the need to access very small environments is felt in various medical, industrial, biological and military fields. Due to their small size, microrobots have the ability to perform tasks that would be very difficult to do on a larger scale, but this ability of microrobots makes feeding and controlling them challenging. There are several methods for providing power and control of microrobots, which include their internal or external stimulation, among which the magnetic stimulation method is used in this research, which does not cause damage to body tissues.In this thesis, an electromagnetic system with nine cylindrical coils is used to control the three-dimensional movement of magnetic...
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