Some Examples of Path Following in Microrobotics

Dahroug, Bassem; Seon, Jean-Antoine; Oulmas, Ali; Xu, Tiantian

doi:10.1109/marss.2018.8481156

Cited by 7 publications

(7 citation statements)

References 11 publications

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“…The only required measurements for implementing our proposed control laws are the COM Cartesian coordinates given by p x and p z . The angle θ in (17) and the magnitude |p| are the polar coordinates of the position vector p = [p x , p z ] .…”

Section: Dynamical Model Of Magnetic Helical Microswimmersmentioning

confidence: 99%

“…The typical control approach in microrobot motion control literature relies on asymptotic tracking of suitably designed reference signals either in the form of a sequence of waypoints or in the form of time-based trajectories. Dahroug et al [17] have recently shown via experiments that trajectory tracking control strategies are not robust to time delays and may create geometric deviations from the desired paths in low Reynolds swimming. Indeed, as demonstrated by Aguiar et al [18], trajectory tracking controllers for even LTI systems are subject to performance limitations in the presence of structural system constraints such as nonminimum phase zeros.…”

Section: Introductionmentioning

confidence: 99%

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Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies

Mohammadi

Spong²

2021

Automatica

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This paper investigates the problem of straight-line path following for magnetic helical microswimmers. The control objective is to make the helical microswimmer to converge to a straight line without violating the step-out frequency constraint. The proposed feedback control solution is based on an optimal decision strategy (ODS) that is cast as a trust-region subproblem (TRS), i.e., a quadratic program over a sphere. The ODS-based control strategy minimizes the difference between the microrobot velocity and an integral line-of-sight (ILOS)-based reference vector field while respecting the magnetic saturation constraints and ensuring the absolute continuity of the control input. Due to the embedded integral action in the reference vector field, the microswimmer will follow the desired straight line by compensating for the drift effect of the environmental disturbances as well as the microswimmer weight.

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Section: Dynamical Model Of Magnetic Helical Microswimmersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies

Mohammadi

Spong²

2021

Automatica

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“…However, trajectory tracking methods are less appropriate for medical applications as discussed in ref. [23], since the trajectory controller is limited in terms of accuracy and stability (e.g., when dealing with complex geometric curves with high curvatures) and more complicated to implement compared to a path-following scheme. Thereby, the previous work 6 assembled individual tasks (i.e., both the RCM and the path-following tasks) to perform a complex motion within the patient body by handling a straight tool.…”

Section: (B))mentioning

confidence: 99%

“…Consequently, instead of using a 3D trajectory tracking technique, we opted for a 3D pathfollowing scheme more adequate to the clinical requirements. 23 Recently, in ref. [26], we demonstrated the preliminary benefits of this approach in the case of middle ear surgery (using a laboratory Projected 2D point onto the path S p to be followed; t Small time step; e rcm Angular error of the alignment task; e rcm Time derivative of the angular RCM error;…”

Section: Medical Gesture As a 3d Path-following Schemementioning

confidence: 99%

Unilaterally Constrained Motion of a Curved Surgical Tool

Dahroug¹,

Tamadazte²,

Andreff³

2020

Robotica

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SUMMARY Constrained motion is essential for varying robotics tasks, especially in surgical robotics, for instance, the case of minimally invasive interventions. This article proposes generic formulations of the classical bilateral constrained motion (i.e., when the incision hole has almost the same diameter as that of the tool) as well as unilaterally constrained motion (i.e., when the hole incision has a larger diameter compared to the tool diameter). One of the latter constraints is combined with another surgical task such as incision/ablation or suturing a wound (modeled here by 3D geometric paths). The developed control methods based on the hierarchical task approach are able to manage simultaneously the constrained motion (depending on the configuration case, i.e., bilateral or unilateral constraint) and a 3D path following. In addition, the proposed methods can operate with both straight or curved surgical tools. The proposed methods were successfully validated in various scenarios. Foremost, a simulation framework was proposed to access the performances of each proposed controller. Thereafter, several experimental validations were carried out. Both the simulation and experimental results have demonstrated the relevance of the proposed approach, as well as promising performances in terms of behavior as well as accuracy.

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“…Looking at the path following problem, it can be divided into two parts: detection and path following [3], [4]. As regards the path detection, Hough transform [5] and its further developments [6], [7] are considered the most valuable solutions in the literature to cope with the task.…”

Section: Introductionmentioning

confidence: 99%

A Vision-Based Algorithm for a Path Following Problem

Terlizzi,

Silano,

Russo

et al. 2023

Preprint

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A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up an intuitive and simple control framework. A path for a quad-rotor UAV is obtained by using downward facing camera images implementing an Image-Based Visual Servoing (IBVS) approach. Numerical simulations in MATLAB ® together with the MathWorks ™ Virtual Reality (VR) toolbox demonstrate the validity and the effectiveness of the proposed solution. The code is released as open-source making it possible to go through any part of the system and to replicate the obtained results.

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Some Examples of Path Following in Microrobotics

Cited by 7 publications

References 11 publications

Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies

Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies

Unilaterally Constrained Motion of a Curved Surgical Tool

A Vision-Based Algorithm for a Path Following Problem

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