Control of untethered magnetically actuated tool with localization uncertainty using a rotating perm

本文主要阐述了在旋转磁场下，探究被动旋转磁铁的定位不确定的情况下，对被动磁铁所在的胶囊的控制能力的关系。推导并总结了，在不确定定位的情况下，旋转轴不对齐的最坏情况，磁场大小的最坏情况，和磁场旋转速度的最坏情况

用一个旋转永磁铁对带有定位不确定度的无线磁性被驱动器的控制
Control of untethered magnetically actuated tool with localization uncertainty using a rotating permanent magnet [1]
Paper Link
Authors: Arthur W. Mahoney, etc.
2012，4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics

在任何应用中，MAT定位将受不确定性影响，不确定性由传感器噪音，低速更新率，和/或定位失败导致的。在这篇文章中，我们开发和实验性证实旋转极子场的性质的最坏边界，给定一个在定位误差方面的最坏边界，它被用来设计减少在已知定位不确定性面前不期望的MAT行为的运行过程。
In any application, MAT localization will be subject to uncertainty caused by sensor noise, slow update rates, and/or localization failure. In this paper, we develop and experimentally verify worst-case bounds on properties of the rotating dipole field, given a worst-case bound on localization error, which can be used to design operating procedures that mitigate undesired MAT behavior in the presence of known localization uncertainty.

磁极子模型：

$${\mathbf{b}}_c=\frac{{\mu }_0||{\mathbf{m}}_a||}{4\pi {\Vert \mathbf{p}\Vert }^3}(3\hat{\mathbf{p}}{\hat{\mathbf{p}}}^T-\mathbf{I})\widehat{{\mathbf{m}}_a}$$

必要的$\widehat{{\mathbf{\omega }}_a}$使在$\mathbf{p}$获得$\widehat{{\mathbf{\omega }}_c}$：
necessary $\widehat{{\mathbf{\omega }}_a}$ that achieves $\widehat{{\mathbf{\omega }}_c}$