TY - GEN
T1 - Eye-in-Hand 3D Visual Servoing of Helical Swimmers Using Parallel Mobile Coils
AU - Yang, Zhengxin
AU - Yang, Lidong
AU - Zhang, Li
N1 - Funding Information:
This work was partially supported by the General Research Fund (GRF) with Project No. 14218516 funded by the Research Grants Council (RGC) of Hong Kong and the ITF projects with project No.s ITS/231/15 and MRP/036/18X funded by the HKSAR Innovation and Technology Commission (ITC).
Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - Magnetic helical microswimmers can be propelled by rotating magnetic field and are adept at passing through narrow space. To date, various magnetic actuation systems and control methods have been developed to drive these microswimmers. However, steering their spacial movement in a large workspace is still challenging, which could be significant for potential medical applications. In this regard, this paper designs an eye-in-hand stereo-vision module and corresponding refraction-rectified location algorithm. Combined with the motor module and the coil module, the mobile-coil system is capable of generating dynamic magnetic fields in a large 3D workspace. Based on the system, a robust triple-loop stereo visual servoing strategy is proposed that operates simultaneous tracking, locating, and steering, through which the helical swimmer is able to follow a long-distance 3D path. A scaled-up magnetic helical swimmer is employed in the path following experiment. Our prototype system reaches a cylindrical workspace with a diameter more than 200 mm, and the mean error of path tracking is less than 2 mm.
AB - Magnetic helical microswimmers can be propelled by rotating magnetic field and are adept at passing through narrow space. To date, various magnetic actuation systems and control methods have been developed to drive these microswimmers. However, steering their spacial movement in a large workspace is still challenging, which could be significant for potential medical applications. In this regard, this paper designs an eye-in-hand stereo-vision module and corresponding refraction-rectified location algorithm. Combined with the motor module and the coil module, the mobile-coil system is capable of generating dynamic magnetic fields in a large 3D workspace. Based on the system, a robust triple-loop stereo visual servoing strategy is proposed that operates simultaneous tracking, locating, and steering, through which the helical swimmer is able to follow a long-distance 3D path. A scaled-up magnetic helical swimmer is employed in the path following experiment. Our prototype system reaches a cylindrical workspace with a diameter more than 200 mm, and the mean error of path tracking is less than 2 mm.
UR - http://www.scopus.com/inward/record.url?scp=85092693386&partnerID=8YFLogxK
U2 - 10.1109/ICRA40945.2020.9197276
DO - 10.1109/ICRA40945.2020.9197276
M3 - Conference article published in proceeding or book
AN - SCOPUS:85092693386
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 9223
EP - 9229
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -