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...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Yang W, Li Y, Qin F
Formato:	article
Lenguaje:	EN
Publicado:	Dove Medical Press 2015
Materias:	Medical technology R855-855.5
Acceso en línea:	https://doaj.org/article/6b353c576bc74d9492e2e818c9980721
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:6b353c576bc74d9492e2e818c9980721
record_format	dspace
spelling	oai:doaj.org-article:6b353c576bc74d9492e2e818c99807212021-12-02T04:30:54ZLocalization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy1179-1470https://doaj.org/article/6b353c576bc74d9492e2e818c99807212015-02-01T00:00:00Zhttp://www.dovepress.com/localization-for-robotic-capsule-looped-by-axially-magnetized-permanen-peer-reviewed-article-MDERhttps://doaj.org/toc/1179-1470 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 strategyYang WLi YQin FDove Medical PressarticleMedical technologyR855-855.5ENMedical Devices: Evidence and Research, Vol 2015, Iss default, Pp 141-151 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medical technology R855-855.5
spellingShingle	Medical technology R855-855.5 Yang W Li Y Qin F Localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy
description	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
format	article
author	Yang W Li Y Qin F
author_facet	Yang W Li Y Qin F
author_sort	Yang W
title	Localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy
title_short	Localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy
title_full	Localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy
title_fullStr	Localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy
title_full_unstemmed	Localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy
title_sort	localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy
publisher	Dove Medical Press
publishDate	2015
url	https://doaj.org/article/6b353c576bc74d9492e2e818c9980721
work_keys_str_mv	AT yangw localizationforroboticcapsuleloopedbyaxiallymagnetizedpermanentmagnetringbasedonhybridstrategy AT liy localizationforroboticcapsuleloopedbyaxiallymagnetizedpermanentmagnetringbasedonhybridstrategy AT qinf localizationforroboticcapsuleloopedbyaxiallymagnetizedpermanentmagnetringbasedonhybridstrategy
_version_	1718401189494652928

Localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy

Ejemplares similares