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In this paper, a magnetic navigation system for a micro-robot flowing in the circulatory system is considered. The suggested system consist of three orthogonal pairs of coils surrounding the region of interest. The current injected in each coil applies force and torque on a magnetic dipole in a capsule to track a predefined path in the circulatory system. The coil system utilizes a combined Helmholtz...
This paper presents the analysis of force harmonics and eddy current damping for 2 DOF moving magnet linear motor (MMLM), which is utilized in magnetically levitated (maglev) positioning systems. A novel current-force model considering higher-order harmonics is proposed for MMLM in this paper, and this model provides an analytical tool to analyze the force ripple effect in MMLM theoretically. A commutation...
This paper presents a basic model of an electro-mechanical energy conversion system using the resonant inductive coupling as well as the power transfer system between the coils. The proposed system utilizes two sets of two-phase air-core coils both for the stator and the mover. There exists parasitic capacitance of the coils which is connected in series. Thus the whole system has certain resonant...
An ideal coreless linear motor produces no forces in non-driving directions. However, in practice, the translator can be misaligned with the center of the stator due to manufacturing tolerances, which causes undesired normal parasitic forces. This misalignment on the other hand provides the ability to generate force in the normal direction. This paper proposes a novel commutation method which utilizes...
In this paper, a novel 12/14 bearingless switched reluctance motor (BLSRM) with a biased permanent magnet is presented. For this novel 12/14 BLSRM structure, the torque control can be naturally decoupled from the levitation force control according to the principle of the BLSRM. Based on the novel structure, a control system is designed to verify the performance of the proposed BLSRM. On the basis...
In contact micromanipulation, the adhesive forces between manipulators and microobjects decrease the chances of achieving successful releases at the desired positions. We study a non-contact micromanipulation technique of microbeads (300 µm in average diameter) using clusters of paramagnetic microparticles (100 µm in average diameter). This non-contact micromanipulation is done using the hydrodynamic...
In this paper, a novel structured planar direct drive motor for use in industrial equipment is proposed. The characteristics are its flat structure compared to conventional 2 Degrees Of Freedom (DOFs) motors and realization of 2 DOFs motion within one device. The structure of the planar motor consists of two sets of coils placed perpendicularly and a check-patterned planar surface of magnets. Two...
This paper presents a novel Synchronous Reluctance Tubular Linear Motor (SyncRTLM) for high precision motion control applications, such as machine tools. Finite Element Analysis (FEA) of the motor is conducted to simulate the motor performance and to analyse the magnetic fields in the motor. The design and development of the built motor is outlined, where a novel construction technique is described...
The paper demonstrates how electrical variables, when formulated as vector quaternions, can be manipulated. A bottom up approach is taken to analysing the forces on coils in magnetic fields and the derivation of expressions for various scenarios is shown to be simple and quick. Quaternions, which were discovered 170 years ago, are the basis for four dimensional vectors. Electrical variables fit into...
The concept of navigating groups of magnetically propelled particles through the fluid-filled passageways of the body provides the potential to perform highly localized diagnostic and therapeutic procedures. The use of MRI scanners to both navigate and propel millimeter-scale robots has received recent attention. MRI-based motion planning and control laws have been proposed that can achieve independent...
Magnetic levitation, maglev, or magnetic suspension is a method by which an object is suspended with no support other than magnetic fields. This project describes the design procedure, analysis, and control of a single actuator magnetic levitation system. First the details of the system design and construction are presented, followed by an analysis of the relevant sub-systems and controller theory...
Flywheel energy storage is one of the most suitable solutions for power-intensive applications due to its high reliability, relative immunity to environment aspects and long lifespan. On the other side, power supply of magnetic bearings, required for high-speed systems, may lead to the complete self-discharge at no-load in islanded operation within hours. The paper presents an optimized design of...
Two-degree switched reluctance motor (SRM) can be selected to drive this motion system, such as boring mill, drill press and carving machine. To realize a precise position tracking for concentrated photovoltaic (CPV) power generation system, the paper presents an optimized rotary-linear motor based on switched reluctance principle. The structure of the motor for the power generation system is also...
Magnetic bearings can support a floater (rotor) without mechanical contacts in rotating machinery systems. Since the rotors can be supported by magnetic bearings without mechanical contacts, some merits are expected. For example, (1) there are no friction and wear, (2) the system can be operated at higher rotational speeds than bearing systems with mechanical contacts, (3) vibration and noise can...
Magnetic bearings (MBs) can be classified as active magnetic bearing (MB), hybrid MB and passive MB. Recently, MBs have been applied in high speed motor, magnetic suspension flywheel, artificial heart blood pump and so on. MBs have obtained extensive research interest [1-3]. Axial hybrid magnetic bearing (AHMB) has the advantages of small size, low power consumption, no friction, no abrasions, free...
Planar motion over a surface is commonly acquired using a combination of rotatory motors and appropriate mechanical transmissions to convert the torque produced by the motor into linear motion. Typically, the assembly employs two motors: one is responsible for the motion in the x-axis and the other, for the y-axis [1]. A planar actuator achieves this kind of motion from only one device. Several different...
The study of the nucleation and propagation of an individual domain wall, DW, is a classical topic of research in micromagnetism and certainly an experimental challenge. The effect of electrical currents in magnetic nanowires has been correlated to the DWs motion as well as the inverse effect, i.e., induced electromotive force, emf. Recently, the relevance of the coupling between conduction electrons...
Capsule endoscopy is becoming an important tool for diagnosis in the digestive system. In certain parts of the gastrointestinal tract, such as the stomach, the capsule should be self-propelled. This study examines the swimming mechanism for a miniature gastric pill endoscope. Our method is based on a constant external magnetic field, such as the B0 field of an MRI (Magnetic Resonance Imaging), that...
The purpose of this work is to describe a possibility of installation of a wave converter in Sicily, in the Mediterranean Sea. In this paper we present the design of buoyant electrical generator, in particular, wave linear permanent magnet generator which can make wave energy converted to electrical energy.
Natural muscles exhibit high power-to-weight ratios, inherent compliance and damping, fast actuation and high dynamic ranges. Unfortunately, traditional robotic actuators have been unable to attain similar properties, especially in a slender muscle-like form factor. Recently, super-coiled polymer (SCP) actuators have rejuvenated the promise of an artificial muscle. Constructed from commercial nylon...
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