Name
Abstract | ||
|---|---|---|
Actuators that are powered, imaged and controlled by Magnetic Resonance (MR) scanners offer the potential of inexpensively providing wireless control of MR-guided robots. Similar to traditional electric motors, the MR scanner acts as the stator and generates propulsive torques on an actuator rotor containing one or more ferrous particles. To generate maximum motor torque while avoiding instabilities and slippage, closed-loop control of the electromagnetic field gradients, i.e., commutation, is required. This paper proposes and demonstrates a method for commutation based on interleaving pulse sequences for rotor tracking and rotor propulsion. Fast rotor tracking is achieved by a new technique utilizing radio-frequency (RF) selective excitation of a properly located fiducial marker by the ferrous particle of the rotor. Optimal marker location is derived and demonstrated to provide accurate estimates of rotor angle. In addition, closed-loop commutation control is shown to increase motor torque and also to enable regulation of rotor angle. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICRA.2013.6630649 | 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
Keywords | Field | DocType |
bandwidth,radio frequency,magnetic resonance imaging,robots,actuators,electric motors,electromagnetic fields | Squirrel-cage rotor,Induction motor,Torque,Wound rotor motor,Control theory,Control engineering,Rotor (electric),Engineering,Stator,Electric motor,Commutation | Conference |
Volume | Issue | ISSN |
2013 | 1 | 1050-4729 |
Citations | PageRank | References |
3 | 0.52 | 5 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Christos Bergeles | 1 | 36 | 10.69 |
| Panagiotis Vartholomeos | 2 | 33 | 3.71 |
| Lei Qin | 3 | 16 | 2.34 |
| Pierre E Dupont | 4 | 1399 | 187.89 |