Novel MIMO 4-DOF position control for capsule endoscope

Ibrahim K. Mohammed; Bayan S. Sharif; Jeffrey A. Neasham; Damian Giaouris

doi:10.1109/ISCAS.2011.5937714

Novel MIMO 4-DOF position control for capsule endoscope

Ibrahim K. Mohammed, Bayan S. Sharif, Jeffrey A. Neasham, Damian Giaouris

Electrical Engineering

Newcastle University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

In this paper, a novel actuation system for Wireless Capsule Endoscopes (WCE) based on magnetic levitation is proposed. This study focuses on the design of a multi-input, multi-output (MIMO), controller to maintain a desired position and orientation of the capsule relative to the movable electromagnet frame so that it can navigate the intestine by moving this frame and/or the patient. Tracking algorithms for the linear controller based on pole placement, entire eigenstructure assignment (EEA), and linear quadratic regulator (LQR) techniques are designed and simulated using Matlab/Simulink. Simulation results suggest that the LQR controller can be used for capsule actuation.

Original language	British English
Title of host publication	2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011
Pages	909-912
Number of pages	4
DOIs	https://doi.org/10.1109/ISCAS.2011.5937714
State	Published - 2011
Event	2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011 - Rio de Janeiro, Brazil Duration: 15 May 2011 → 18 May 2011

Publication series

Name	Proceedings - IEEE International Symposium on Circuits and Systems
ISSN (Print)	0271-4310

Conference

Conference	2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011
Country/Territory	Brazil
City	Rio de Janeiro
Period	15/05/11 → 18/05/11

Access to Document

10.1109/ISCAS.2011.5937714

Cite this

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title = "Novel MIMO 4-DOF position control for capsule endoscope",

abstract = "In this paper, a novel actuation system for Wireless Capsule Endoscopes (WCE) based on magnetic levitation is proposed. This study focuses on the design of a multi-input, multi-output (MIMO), controller to maintain a desired position and orientation of the capsule relative to the movable electromagnet frame so that it can navigate the intestine by moving this frame and/or the patient. Tracking algorithms for the linear controller based on pole placement, entire eigenstructure assignment (EEA), and linear quadratic regulator (LQR) techniques are designed and simulated using Matlab/Simulink. Simulation results suggest that the LQR controller can be used for capsule actuation.",

author = "Mohammed, {Ibrahim K.} and Sharif, {Bayan S.} and Neasham, {Jeffrey A.} and Damian Giaouris",

year = "2011",

doi = "10.1109/ISCAS.2011.5937714",

language = "British English",

isbn = "9781424494736",

series = "Proceedings - IEEE International Symposium on Circuits and Systems",

pages = "909--912",

booktitle = "2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011",

note = "2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011 ; Conference date: 15-05-2011 Through 18-05-2011",

}

Mohammed, IK, Sharif, BS, Neasham, JA & Giaouris, D 2011, Novel MIMO 4-DOF position control for capsule endoscope. in 2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011., 5937714, Proceedings - IEEE International Symposium on Circuits and Systems, pp. 909-912, 2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011, Rio de Janeiro, Brazil, 15/05/11. https://doi.org/10.1109/ISCAS.2011.5937714

Novel MIMO 4-DOF position control for capsule endoscope. / Mohammed, Ibrahim K.; Sharif, Bayan S.; Neasham, Jeffrey A. et al.
2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011. 2011. p. 909-912 5937714 (Proceedings - IEEE International Symposium on Circuits and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Novel MIMO 4-DOF position control for capsule endoscope

AU - Mohammed, Ibrahim K.

AU - Sharif, Bayan S.

AU - Neasham, Jeffrey A.

AU - Giaouris, Damian

PY - 2011

Y1 - 2011

N2 - In this paper, a novel actuation system for Wireless Capsule Endoscopes (WCE) based on magnetic levitation is proposed. This study focuses on the design of a multi-input, multi-output (MIMO), controller to maintain a desired position and orientation of the capsule relative to the movable electromagnet frame so that it can navigate the intestine by moving this frame and/or the patient. Tracking algorithms for the linear controller based on pole placement, entire eigenstructure assignment (EEA), and linear quadratic regulator (LQR) techniques are designed and simulated using Matlab/Simulink. Simulation results suggest that the LQR controller can be used for capsule actuation.

AB - In this paper, a novel actuation system for Wireless Capsule Endoscopes (WCE) based on magnetic levitation is proposed. This study focuses on the design of a multi-input, multi-output (MIMO), controller to maintain a desired position and orientation of the capsule relative to the movable electromagnet frame so that it can navigate the intestine by moving this frame and/or the patient. Tracking algorithms for the linear controller based on pole placement, entire eigenstructure assignment (EEA), and linear quadratic regulator (LQR) techniques are designed and simulated using Matlab/Simulink. Simulation results suggest that the LQR controller can be used for capsule actuation.

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U2 - 10.1109/ISCAS.2011.5937714

DO - 10.1109/ISCAS.2011.5937714

M3 - Conference contribution

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SN - 9781424494736

T3 - Proceedings - IEEE International Symposium on Circuits and Systems

SP - 909

EP - 912

BT - 2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011

T2 - 2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011

Y2 - 15 May 2011 through 18 May 2011

ER -

Novel MIMO 4-DOF position control for capsule endoscope

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