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已发表论文
基于混合策略，对使用轴向磁化永磁环的机器人胶囊进行定位
Authors Yang W, Li Y, Qin F
Published Date February 2015 Volume 2015:8 Pages 141—151
DOI http://dx.doi.org/10.2147/MDER.S73639
Received 2 September 2014, Accepted 16 December 2014, Published 16 February 2015
Abstract: 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
Keywords: localization, permanent-magnet ring, robotic capsule, hybrid strategy
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