Research Papers

Design and Simulation of Three Degrees-of-Freedom Tracking Systems for Capsule Endoscope

[+] Author and Article Information
Ibrahim K. Mohammed

Department of Systems and Control Engineering,
College of Electronics Engineering,
University of Mosul,
Mosul 41002, Iraq
e-mail: ib_msc_99@yahoo.com

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 13, 2015; final manuscript received May 24, 2016; published online July 8, 2016. Assoc. Editor: Xiaopeng Zhao.

J. Dyn. Sys., Meas., Control 138(11), 111002 (Jul 08, 2016) (11 pages) Paper No: DS-15-1377; doi: 10.1115/1.4033830 History: Received August 13, 2015; Revised May 24, 2016

Wireless capsule endoscopes (WCE) are a new technology for inspection of the intestines, which offer many advantages over conventional endoscopes, while devices currently in use are passive and can only follow the natural transit of the intestines. There is a considerable interest in methods of controlled actuation for these devices. In this paper, an actuation system based on magnetic levitation is proposed, utilizing a small permanent magnet within the capsule and an arrangement of digitally controlled electromagnet placed on a movable frame. The objective of this paper is to design a multi-input multi-output (MIMO), three degrees-of-freedom (3DOF) tracking system for capsule endoscope. Two techniques, entire eigenstructure assignment (EEA) and linear quadratic regulator (LQR), are presented to design the controller of the system. The performance of the EEA and LQR controllers was compared based on the stability parameters to validate the proposed actuation system. Finally, simulation results suggest that the LQR approach can be used to synthesize a suitable and simple controller for this application.

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Fig. 1

Conceptual platform of the proposed actuation system

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Fig. 2

Geometry of the system in the free space: (a) force vectors of the system and (b) orientation angles of the coil

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Fig. 3

Schematic diagram of the system in the xy-plane

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Fig. 4

Block diagram of the control system

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Fig. 5

Block diagram of the control system based on the EEA technique

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Fig. 6

Block diagram of the EEA tracker system

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Fig. 7

Simulink model of the EEA tracker system

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Fig. 8

Output response and control effort of the EEA tracking system: (a) Δx(t) response, (b) Δy(t) response, (c) Δz(t) response, (d) optimum response, and (e) input current

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Fig. 9

Simulink model of the LQR tracker system

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Fig. 10

Step response and control effort of the LQR tracker: (a) Δx(t) response, (b) Δy(t) response, (c) Δz(t) response, and (d) input current




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