A 5-D Localization Method for a Magnetically Manipulated Untethered Robot Using a 2-D Array of Hall-Effect Sensors


This paper introduces a brand new five-D localization methodology for an untethered meso-scale magnetic robot, which is manipulated by a computer-controlled electromagnetic system. The developed magnetic localization setup could be a 2d array (8 × 8) of mono-axial Hall-result sensors, that measure the perpendicular magnetic fields at their given positions. We have a tendency to introduce two steps for localizing a magnetic robot a lot of accurately. First, the dipole-modeled magnetic field of the electromagnet is subtracted from the measured information in order to work out the robot's magnetic field. Second, the subtracted magnetic field is twice differentiated in the perpendicular direction of the array, thus that the result of the electromagnetic field in the localization process is minimized. Five variables relating to the position and orientation of the robot are determined by minimizing the error between the measured magnetic field and the modeled magnetic field in an optimization methodology. The resulting position error is two.1 ± zero.eight mm and angular error is ± 4.three° among the applicable vary (five cm) of magnetic field sensors at two hundred Hz. The proposed localization method would be used for the position feedback control of untethered magnetic devices or robots for medical applications in the future.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE : Video Dissemination over Hybrid Cellular and Ad Hoc Networks - 2014 ABSTRACT: We study the problem of disseminating videos to mobile users by using a hybrid cellular and ad hoc network. In particular, we formulate
PROJECT TITLE : Sleep Scheduling for Geographic Routing in Duty-Cycled Mobile Sensor Network - 2014 ABSTRACT: Recently, the research focus on geographic routing, a promising routing scheme in wireless sensor networks (WSNs),
PROJECT TITLE : Secure and Efficient Data Transmission for Cluster-Based Wireless Sensor Networks - 2014 ABSTRACT: Secure data transmission is a critical issue for wireless sensor networks (WSNs). Clustering is an effective
PROJECT TITLE : PSR A Lightweight Proactive Source Routing Protocol For Mobile Ad Hoc Networks - 2014 ABSTRACT: Opportunistic data forwarding has drawn much attention in the research community of multihop wireless networking,
PROJECT TITLE : Joint Routing and Medium Access Control in Fixed Random Access Wireless Multihop Networks - 2014 ABSTRACT: We study cross-layer design in random-access-based fixed wireless multihop networks under a physical

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry