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Localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy

Authors Yang W, Li Y, Qin F

Received 2 September 2014

Accepted for publication 16 December 2014

Published 16 February 2015 Volume 2015:8 Pages 141—151


Checked for plagiarism Yes

Review by Single anonymous peer review

Peer reviewer comments 3

Editor who approved publication: Dr Scott Fraser

Wanan Yang,1 Yan Li,2 Fengqing Qin1

1School of Computer and Information Engineering, 2Computer Science and Technology Institute, Yibin University, Yibin, People's Republic of China

Abstract: To actively maneuver a robotic capsule for interactive diagnosis in the gastrointestinal tract, visualizing accurate position and orientation of the capsule when it moves in the gastrointestinal tract is essential. A possible method that encloses the circuits, batteries, imaging device, etc into the capsule looped by an axially magnetized permanent-magnet ring is proposed. Based on expression of the axially magnetized permanent-magnet ring's magnetic fields, a localization and orientation model was established. An improved hybrid strategy that combines the advantages of particle-swarm optimization, clone algorithm, and the Levenberg–Marquardt algorithm was found to solve the model. Experiments showed that the hybrid strategy has good accuracy, convergence, and real time performance.

Keywords: localization, permanent-magnet ring, robotic capsule, hybrid strategy

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