Wireless Measurement and Control System for a Novel Bionic Micro-Robot
WANG Jinguang1,2, YANG Cenyu1,2, WANG Zhe1,2, WANG Qingmeng1,2, SONG Tao1
1. Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing 100190, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
王金光, 杨岑玉, 王喆, 王庆蒙, 宋涛. 一种新型仿生微型机器人的无缆测控系统[J]. 机器人, 2010, 32(1): 34-40..
WANG Jinguang, YANG Cenyu, WANG Zhe, WANG Qingmeng, SONG Tao. Wireless Measurement and Control System for a Novel Bionic Micro-Robot. ROBOT, 2010, 32(1): 34-40..
Abstract:A measurement and control system based on magnetic field and radio signal is designed,which controls the magnetotactic bacterium-like micro-robot and measures its experimental parameters with wireless method.The measurement and control system consists of micro-robot posture measurement subsystem and micro-robot control subsystem.In the mea-surement subsystem,state of the micro-robot is obtained by processing the signal detected with magnetic sensors array in real time,and is compared with video tracking result.In the control subsystem,the speed of micro-robot is controlled by PWM(pulse-width modulation) signals of radio transmitter,and the orientation of the micro-robot is controlled by guide magnetic field.90º turning movement control is studied experimentally in the system.And results verify that the system can effectively control the bionic micro-robot.
[1] 张永顺,刘巍,郭锐,等.无缆微型游动机器人驱动磁场系统的研究[J].机器人,2005,27(1):63-67.Zhang Yongshun,Liu Wei,Guo Rui,et al.Research on drivingmagnetic field system for a wireless micro swimming robot[J].Robot,2005,27(1):63-67.
[2] Ishiyama K,Sendoh M,Yamazaki A,et al.Swimming micromachine driven by magnetic torque[J].Sensors and Actuators,A:Physical,2001,91(1/2):141-144.
[3] Sendoh M,Ishiyama K,Arai K I.Fabrication of magnetic actuator for use in a capsule endoscope[J].IEEE Transactions on Magnetics,2003,39(5):3232-3234.
[4] 张永顺,李海亮,工惠颖,等.超磁敛伸缩薄膜驱动仿生游动微型机器人[J].机器人,2006,28(2):170-176.Zhang Yongshun,Li Hailiang,Wang Huiying,et al.Biomimetic swimming micro robot driven by giant magnetostrietive thin films[J].Robot,2006,28(2):170-176.
[5] Mei T,Chert Y,Fu G Q,et al.Wireless drive and control of a swimming microrobot[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2002:1131-1136.
[6] 白烨,杨明,王秋良,等.磁导航外科手术模型系统设计和建造[J].北京生物医学工程,2006,25(3):261-264,315.Bai Ye,Yang Ming,Wang Qiuliang,et al.The design and fabrication of a model magnetic stereotaxis system[J].Beijing Biomedical Engineering,2006,25(3):261-264,315.
[7] Blakemore R R Magnetotactic bacteria[J].Science,1975,190(4212):377-379.
[8] Bazylinski D A,Frankel R B.Magnetosome formation in prokaryotes[J].Nature Reviews Microbiology,2004,2(3):217-230.
[9] 宋涛,李晓南,王铮,等.一种微型机器人及其体外导向系统:中国,200610165495.9[P].2006-12-21.Song Tao,Li Xiaonan,Wang Zheng,et al.A novel micro-machine and its external guiding system:China,200610165495.9[P].2006-12-21.
[10] 杨岑玉,王铮,王金光,等.仿趋磁细菌的微型机器人研究[J].机器人,2009,31(2):146-150.Yang Cenyu,Wang Zheng,Wang Jingnang,et al.On a new type of magnetotactic bacterium-like micro-robot[J].Robot,2009,31(2):146-150.
[11] Nagaoka T,Uchiyama A.Development of a small wireless position sensor for medical capsule devices[C]//Annual International Conference of the IEEE Engineering in Medicine and Biology Society.Piscataway,NJ,USA:IEEE,2004:2137-2140.
[12] Abraham-Fuchs K,Schneider S,Reichenberger H.MCG inverse solution:Influence of coil size,grid size,number of coils,and SNR[J].IEEE Transactions on Biomedical Engineering,1988,35(8):573-576.
[13] Bradski G R.Computer vision face tracking for use in a perceptual user interface[J].Intel Technology Journal,1998,2(2):1-15.
[14] Boyle M.The effects of capture conditions on the CAMSHIFT face tracker[R].Alberta,Canada:Department of Computer Science,University of Calgary,2001.