Localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy
Wanan Yang,1 Yan Li,2 Fengqing Qin11School of Computer and Information Engineering, 2Computer Science and Technology Institute, Yibin University, Yibin, People's Republic of ChinaAbstract: To actively maneuver a robotic capsule for interactive diagnosis in the gastrointestinal tract, visual...
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| Autores principales: | , , |
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| Formato: | article |
| Lenguaje: | EN |
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Dove Medical Press
2015
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| Materias: | |
| Acceso en línea: | https://doaj.org/article/6b353c576bc74d9492e2e818c9980721 |
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| Sumario: | Wanan Yang,1 Yan Li,2 Fengqing Qin11School of Computer and Information Engineering, 2Computer Science and Technology Institute, Yibin University, Yibin, People's Republic of ChinaAbstract: To actively maneuver a robotic capsule for interactive diagnosis in the gastrointestinal tract, visualizing accurate position and orientation of the capsule when it moves in the gastrointestinal tract is essential. A possible method that encloses the circuits, batteries, imaging device, etc into the capsule looped by an axially magnetized permanent-magnet ring is proposed. Based on expression of the axially magnetized permanent-magnet ring's magnetic fields, a localization and orientation model was established. An improved hybrid strategy that combines the advantages of particle-swarm optimization, clone algorithm, and the Levenberg–Marquardt algorithm was found to solve the model. Experiments showed that the hybrid strategy has good accuracy, convergence, and real time performance.Keywords: localization, permanent-magnet ring, robotic capsule, hybrid strategy |
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