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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 지도교수
- 전승문
- 발행연도
- 2023
- 저작권
- 공주대학교 논문은 저작권에 의해 보호받습니다.
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Magnetic microrobots actuated by a magnetic navigation system (MNS) have gained importance as versatile devices with minimally invasive and wireless manipulation abilities in various biomedical applications.
Generally, MNSs are composed of multiple numbers of coils and massive turns of wire to generate a sufficiently strong magnetic field to manipulate the microrobots’ mechanical motions. In our previous research, we proposed a geometrically compact and magnetically efficient MNS composed of a triad of electromagnetic coils (TEC). In the TEC, there are only three control variables (three coil currents) for manipulating two-dimensional (2D) microrobots.
In this research, we investigated a new magnetic field generation method to improve the TEC’s magnetic efficiency in generating 2D microrobot motions. Based on the physical property of a magnetic coil that acts as a pulling magnet for a microrobot, we established a process and several equations by which one can maneuver the 2D microrobot motions via the selective control of only one or two coil currents of the TEC. We also employed an open-loop and closed-loop controller for the method so that the microrobot can move along a programmed pathway actuated by the TEC. We then constructed an experimental setup to demonstrate and validate the controlled motions of the microrobot using the proposed method.
This research can contribute to developing an optimal MNS and strategy that can be used to manipulate 2D magnetic microrobots for various biomedical and biological applications, including minimally invasive surgery, targeted drug and cargo delivery, microfluidic control, etc.
Generally, MNSs are composed of multiple numbers of coils and massive turns of wire to generate a sufficiently strong magnetic field to manipulate the microrobots’ mechanical motions. In our previous research, we proposed a geometrically compact and magnetically efficient MNS composed of a triad of electromagnetic coils (TEC). In the TEC, there are only three control variables (three coil currents) for manipulating two-dimensional (2D) microrobots.
In this research, we investigated a new magnetic field generation method to improve the TEC’s magnetic efficiency in generating 2D microrobot motions. Based on the physical property of a magnetic coil that acts as a pulling magnet for a microrobot, we established a process and several equations by which one can maneuver the 2D microrobot motions via the selective control of only one or two coil currents of the TEC. We also employed an open-loop and closed-loop controller for the method so that the microrobot can move along a programmed pathway actuated by the TEC. We then constructed an experimental setup to demonstrate and validate the controlled motions of the microrobot using the proposed method.
This research can contribute to developing an optimal MNS and strategy that can be used to manipulate 2D magnetic microrobots for various biomedical and biological applications, including minimally invasive surgery, targeted drug and cargo delivery, microfluidic control, etc.
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