Dissertation/Thesis
Development and control of magnetic microrobotics systems for biomedical applications
| Τίτλος: | Development and control of magnetic microrobotics systems for biomedical applications |
|---|---|
| Συνεισφορές: | Yang, Lidong (author.), Zhang, Li (thesis advisor.), Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. (degree granting institution.) |
| Έτος έκδοσης: | 2020 |
| Συλλογή: | The Chinese University of Hong Kong: CUHK Digital Repository / 香港中文大學數碼典藏 |
| Θεματικοί όροι: | Biomedical engineering--Equipment and supplies, Microrobots, Equipment and Supplies, Biomedical Engineering--instrumentation, Robotics |
| Περιγραφή: | Ph.D. ; Miniature robots at millimeter and smaller scales, which can also be referred as microrobots, have attracted increasing attention in recent years due to their growing capability to perform micromanipulation with high precision and potential tasks for minimally invasive medicine. Among various wireless actuation methods for microrobots, magnetic field has many advantages, such as transparency to biological tissues and high safety to living organisms, which are favorable for biomedical applications. As a result, magnetic microrobotics has become one of the most promising research directions in microrobotics and biomedicine communities. Besides the magnetic microrobot, a magnetic microrobotics system also includes a magnetic manipulation system, a control system and a feedback instrument for actuation, control and state feedback of the magnetic microrobots, respectively. The development and control of such a system is a comprehensive task that requires knowledge of mechanical design, control and biomedicine. This thesis will present three magnetic microrobotics systems that aim to provide solutions to the state-of-the-art fundamental or practical problems in biomedical applications using magnetic microrobots. ; The first one called 'MagDisk' is a plug-and-play system developed for magnetic microrobots under guidance of fluorescence imaging. Based on this system and the spore-based multifunctional magnetic microrobot (MagSpore), we realize the automated targeted delivery to stem cells and automated and rapid detection of C. diff toxins. Main results of this system are summarized as follows. ; 1. The automated individual motion control problem of MagSpore for targeted delivery to cells is studied. Complex modeling of hydrodynamics and wall effect is avoided by designing a DOB, and accurate trajectory tracking is ensured by the synthesized MPC controller. Based on the PSO, an optimal path-planning method is designed for automated navigation under guidance of fluorescence imaging. ; 2. An automated microrobotic ... |
| Τύπος εγγράφου: | Thesis |
| Περιγραφή αρχείου: | electronic resource; remote; 1 online resource (xxxiii, 192 leaves) : illustrations (some color); computer; online resource |
| Γλώσσα: | English Chinese |
| Relation: | cuhk:2627943; local: ETD920210306; local: 991040013772303407 |
| Διαθεσιμότητα: | https://julac.hosted.exlibrisgroup.com/primo-explore/search?query=addsrcrid,exact,991040013772303407,AND&tab=default_tab&search_scope=All&vid=CUHK&mode=advanced&lang=en_US https://repository.lib.cuhk.edu.hk/en/item/cuhk-2627943 |
| Rights: | Use of this resource is governed by the terms and conditions of the Creative Commons "Attribution-NonCommercial-NoDerivatives 4.0 International" License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
| Αριθμός Καταχώρησης: | edsbas.1C0270A0 |
| Βάση Δεδομένων: | BASE |
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