A novel, Fourier series based method of control optimization and its application to a discontinuous capsule drive model

Zarychta, Sandra; Sagan, Tomasz; Balcerzak, Marek; Dąbrowski, Artur; Stefański, Andrzej; Kapitaniak, Tomasz

doi:10.1016/j.ijmecsci.2022.107104

Cited by 8 publications

(2 citation statements)

References 25 publications

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“…Due to limited structure of the cavity, the parameter optimization is another important aspect to improve the locomotion characteristics of the capsule robots [29]. By establishing the dynamic model of the capsule robot with the spiral structure, as shown in figure 4(a), the optimal structure parameters were analyzed, and the fluid simulation of the propulsive force and the resistance of the capsule robot were carried out to obtain the optimal performance [30].…”

Section: Locomotion Of Capsule Robotsmentioning

confidence: 99%

Functional capsule robots: a review of locomotion, pose, medical operation and wireless power transmission reported in 2018–2023

Hua,

Deng,

Gołdasz

et al. 2024

Smart Mater. Struct.

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As a new type of medical equipment, capsule robots are actuated wirelessly by space magnetic field, which have important application advantages in the diagnosis and treatment of gastrointestinal diseases. Active locomotion is the basis of medical operation for capsule robots, as well as an important guarantee to avoid misdetection and retention in the body. Furthermore, the pose estimation of the capsule robots in the gastrointestinal tract can provide accurate information for medical operation and improve work efficiency. Specific medical operation is one of the ultimate goals of capsule robots, and it is the key to realize the non-invasive diagnosis and treatment technology. Moreover, replacing traditional chemical batteries with wireless power transfer technology not only reduces the dimensions of the capsule robots, but also provides unlimited possibilities for the development of medical operations. In this work, the state-of-the-art capsule robots are reviewed according to the research directions of the locomotion, pose, medical operation and wireless power transmission reported from 2018 to 2023. In light of the four main directions of the capsule robots, some important research achievements and approaches are summarized. In particular, some outstanding advances on innovative structure, efficient methodology and appropriate application of the capsule robots are introduced in details. Finally, an overview of the significant issues occurred in the capsule robots is reported, and the developing trends are discussed.

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Section: Locomotion Of Capsule Robotsmentioning

confidence: 99%

Functional capsule robots: a review of locomotion, pose, medical operation and wireless power transmission reported in 2018–2023

Hua,

Deng,

Gołdasz

et al. 2024

Smart Mater. Struct.

View full text Add to dashboard Cite

show abstract

“…Along with the wheeled locomotion systems, unbalanced rotors are widely used for actuating capsule-type and in-pipe robots. An interesting research on the optimal control of a capsule system with an unbalanced pendulum is presented in ( Zarychta et al, 2022 ). Similar investigations dedicated to the dynamic behavior of a capsule-type robot with a pendulum-type exciter are carried out in ( Liu et al, 2018a ).…”

Section: Introductionmentioning

confidence: 99%

Locomotion characteristics of a wheeled vibration-driven robot with an enhanced pantograph-type suspension

Korendiy,

Kachur

2023

Front. Robot. AI

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Introduction: The paper considers the improved design of the wheeled vibration-driven robot equipped with an inertial exciter (unbalanced rotor) and enhanced pantograph-type suspension. The primary purpose and objectives of the study are focused on mathematical modeling, computer simulation, and experimental testing of locomotion conditions of the novel robot prototype. The primary scientific novelty of the present research consists in substantiating the possibilities of implementing the enhanced pantograph-type suspension in order to improve the robot’s kinematic characteristics, particularly the average translational speed.Methods: The simplified dynamic diagram of the robot’s oscillatory system is developed, and the mathematical model describing its locomotion conditions is derived using the Euler-Lagrange differential equations. The numerical modeling is carried out in the Mathematica software with the help of the Runge-Kutta methods. Computer simulation of the robot motion is performed in the SolidWorks Motion software using the variable step integration method (Gear’s method). The experimental investigations of the robot prototype operating conditions are conducted at the Vibroengineering Laboratory of Lviv Polytechnic National University using the WitMotion accelerometers and software. The experimental data is processed in the MathCad software.Results and discussion: The obtained results show the time dependencies of the robot body’s basic kinematic parameters (accelerations, velocities, displacements) under different operating conditions, particularly the angular frequencies of the unbalanced rotor. The numerical modeling, computer simulation, and experimental investigations present almost similar results: the smallest horizontal speed of about 1 mm/s is observed at the supplied voltage of 3.47 V when the forced frequency is equal to 500 rpm; the largest locomotion speed is approximately 40 mm/s at the supplied voltage of 10 V and forced frequency of 1,500 rpm. The paper may be interesting for designers and researchers of similar vibration-driven robotic systems based on wheeled chassis, and the results may be used while implementing the experimental and industrial prototypes of vibration-driven robots for various purposes, particularly, for inspecting and cleaning the pipelines. Further investigation on the subject of the paper should be focused on analyzing the relations between the power consumption, average translational speed, and working efficiency of the considerer robot under various operating conditions.

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Optimization of the closed-loop controller of a discontinuous capsule drive using a neural network

et al. 2023

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In this paper the construction of a neural-network based closed-loop control of a discontinuous capsule drive is analyzed. The foundation of the designed controller is an optimized open-loop control function. A neural network is used to determine the dependence between the output of the open-loop controller and the state of the system. Robustness of the neural controller with respect to variation of parameters of the controlled system is analyzed and compared with the original optimized open-loop control. It is expected that the presented method can facilitate the construction of closed-loop controllers for which alternative methods are not effective, such as non-smooth or discontinuous ones.

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A novel, Fourier series based method of control optimization and its application to a discontinuous capsule drive model

Cited by 8 publications

References 25 publications

Functional capsule robots: a review of locomotion, pose, medical operation and wireless power transmission reported in 2018–2023

Functional capsule robots: a review of locomotion, pose, medical operation and wireless power transmission reported in 2018–2023

Locomotion characteristics of a wheeled vibration-driven robot with an enhanced pantograph-type suspension

Optimization of the closed-loop controller of a discontinuous capsule drive using a neural network

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