This paper describes the design of a prototype gastrointestinal intervention system based on an inchworm-type of mobile robot. The overall system is about 95 mm long and has a diameter of 15 mm. The modular design has three main parts: an extension and contraction part, a two degree of freedom bending part and a locking part. All these parts are to be actuated by shape memory elements. Main par...

There is an increasing need to incorporate an actively controlled drug delivery system (DDS) into the next generation of capsule endoscopy in order to treat diseases in the gastrointestinal tract in a noninvasive way. Despite a number of attempts to magnetically actuate drug delivery mechanisms embedded in endoscopic capsules, longer operating distances and further miniaturization of on-board c...

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii CHAPTER 1. INTRODUCTIOIN . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Robust Feedback Linearization . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Application to Hydraulic System . . . . . . . . . . . . . . . . . . . . . . 5...

We detail in this article the development of a delay-robust stabilizing state feedback control law for an underactuated network two subsystems heterodirectional linear first-order hyperbolic Partial Differential Equations interconnected through their boundaries. Only one is actuated. The proposed approach based on backstepping methodology. A transform allows us to construct first tackle in-doma...

In this paper, the obstacle avoidance problem-based leader–following formation tracking of nonholonomic wheeled mobile robots with unknown parameters desired trajectory is investigated. First, under-actuated system transformed into a fully-actuated by obtaining an auxiliary control variable using transverse function. Second, introducing potential function for each obstacle, influence obstacles ...

piezoelectric actuators are widely used in micro manipulation applications. however hysteresis nonlinearity limits accuracy of these actuators. this paper presents a novel approach utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. the prandtl-ishlinskii (pi) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. a pas...

Purpose The goal of this work is to develop different hardware and software elements pertinent to magnetic resonance imaging (MRI) guided and robot-assisted intracardiac procedures, and integrate them into a modular platform suitable for further development and testing in the laboratory and at the MR suite. This prototype system, which has been partly inspired by our previous conceptual design ...