Mobile Actuation Systems for Magnetic Small-Scale Robots

About the Authors
Preface
List of Acronyms

Chapter 1: Introduction to Mobile Magnetic Actuation System
1.1 Introduction
1.2 Magnetic Actuation Systems
1.3 Development of magnetic actuation systems
1.4 Typical applications of magnetic actuation systems
1.5 Scope and Layout of the Book

Chapter 2: Design and Real-Time Optimization for a Magnetic Actuation System with Enhanced Flexibility
2.1 Introduction
2.2 System Design, Modeling, and Optimization
2.3 System Prototype and Validation
2.4 Autonomous Navigation of a Microrobot Under Ultrasound Doppler Imaging
2.5 Discussion and Conclusion

Chapter 3: Deep Reinforcement Learning Framework-Based System Control for Soft Microrobots
3.1 Introduction
3.2 System Design and Modeling
3.3 Construction of the Control Framework
3.4 Experimental Validation3.5 Discussion and Conclusion

Chapter 4: Reconfigurable Electromagnetic Actuation System and Robust Control in Fluid Environments
4.1 Introduction
4.2 System Design and Modeling
4.3 Multi-Objective Optimization Method for Coil Configuration Generation
4.4 System Validation and Analysis
4.5 Construction of Path Control Framework
4.6 Experimental Validation and Results4.7 Discussion and conclusion

Chapter 5: Performance-Guided Optimization and Field-Priority Force Control for Large Workspaces
5.1 Introduction
5.2 Performance-Guided Rotating Field Control Method
5.3 Field-Priority Force Control Method
5.4 Experimental Validation and Analysis
5.5 Discussion and Conclusion

Chapter 6: Multimode Control and Optimal Design of a Parallel-Mobile-Coil System
6.1 Introduction
6.2 System Design and Modeling
6.3 Multimode Control and Validation
6.4 System Structure Design with Parameter Optimization
6.5 Validation of Microrobotic Navigation Control
6.6 Discussion and Conclusion

Chapter 7: Autonomous Microrobot Navigation Using Parallel-Mobile-Coil System
7.1 Introduction
7.2 Design of Motion Planner and Motion Controller
7.3 Simulation and Experimental Validation
7.4 Control Scheme and Environment Registration
7.5 Experimental navigation in flowing conditions
7.6 Discussion and conclusion

Chapter 8: Magnetically Controlled Guidewire Robotic System for Vascular Intervention
8.1 Introduction
8.2 Design of The MCGRS
8.3 Modeling and Trajectory Planning
8.4 Experimental Setup and Validations
8.5 Strategy Design for Hard-to-Reach Vessels
8.6 In Vivo Validation of the Multistage Embolization Strategy
8.7 Discussion and Conclusion

Chapter 9: Parallel-Mobile-Coil System for Wired Magnetic Microrobot
9.1 Introduction
9.2 Robotic Hardware and Control Framework
9.3 Structure Design and Control Framework of WMM
9.4 Experimental Results and Discussion
9.5 Discussion and Conclusion
9.6 Micromanipulation by Compacts of Nanorobots

Chapter 10: Conclusion and Outlook
10.1 Design of Magnetic Actuation System
10.2 Integration Strategy of Imaging and Actuation System10.3 Application of Image-Integrated Mobile Magnetic Actuation System

Index