IJE TRANSACTIONS C: Aspects Vol. 27, No. 9 (September 2014) 1377-1384    Article Under Proof

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S. Mahmoudzadeh, H. Mojallali and N. Pourjafari
( Received: January 07, 2014 – Accepted: May 22, 2014 )

Abstract    This paper proposes a design for a mesoscale capsule robot which can be used in gaining diagnostic data and delivering medical treatment in inaccessible parts of the human body. A novel approach is presented for the capsule robot control: A PID-controlled closed-loop approach. A modified chaotic genetic algorithm will be used to optimize the coefficients of PID controller. Then, simulation will be conducted to demonstrate the results for the proposed approach.


Keywords    capsubot; chaos; genetic algorithm; PID controller;


چکیده    در این مقاله یک طرح برای یک ربات کپسولی در ابعاد چند صد میکرون تا چند ده میلی­متر ارائه شده است. از این ربات کپسولی برای به دست آوردن اطلاعات تشخیصی پزشکی و رساندن دارو به قسمت­های غیرقابل دسترس از بدن استفاده می­شود. برای کنترل این ربات، پس از مدل کردن سیستم ربات کپسولی و به دست آوردن تابع تبدیل آن، یک روش کنترل ارائه شده است: کنترل حلقه بسته با استفاaده از کنترل­کننده تناسبی-انتگرالی-مشتقی. برای بهینه­سازی ضرایب کنترل­کننده یک الگوریتم ژنتیک آشوبی اصلاح شده پیشنهاد شده است. سپس شبیه­سازی­هایی انجام شده تا نتایج روش ارائه شده بررسی شوند. در نهایت نتایج به دست آمده با نتایج مشابه موجود در ادبیات ربات کپسولی مقایسه شدند.



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