Modeling The Dynamics Of Noninvasive Micro Robot And Behavior Based Intelligent Control

With the development of the bio-medical engineering, the micro convenient economic devices play important roles in the medical operations. The MEMS technology makes the device smaller and smaller. Many kind of micro robot have been studied in the past decades for medical use. We purpose a novel kind of micro robot for entering the human gastro-intestine, which can bring the endoscopes or do the surgery operations. When the micro robot run in the human body, it can generate a dynamic fluid film that can prevent the touch of the micro robot and the human gastro-intestine, so to use this kind of robot to reduce the patient pain.The dissertation studied the driven principle of this novel kind of robot, constructed the mathematical model of fluid fields which is the environment for robot run, studied in detail the parameters of robot and it affections to the drive forces and run velocity of the robot. It proved the correctness of the principle through lots of experiments and constructed the database of robot run in the time. The dissertation constructed the robotic dynamics and motivation, used the controllable theory to analyze the robotic position control, which is the basis for later control theory. It studied the peristalsis of the gastro-intestine and its effect on the micro-robot velocity and driven forces. The control of robot velocity was observed by experiment and mathematical analysis. The methodology and concept of conformability of human gastro-intestine were given and control strategy was studied, as a result, a resistance control method was promoted. Immune network, which is one of behavior-based intelligent control, was studied to control the robot in the nonlinear sophisticate non-structure environment, the control result shows that the robot had the robustness and adaptability in the gastro-intestine. The test rig and eddy current sensor were studied in the dissertation. A novel kind of method using chaos to enhance the sensor sensitivity and precision were studied. The first chapter investigated the studies of micro-robot, pointed out many physics phenomena, which are different between the micro and macro fields, studied the intelligence control in nonlinear and non-constructive environment. Chapter two constructed the mathematical model of robot and its environment solved by the FEM analysis. The functions or relations between the robotic parameters and its drive forces, thickness or its velocities were given, and also the functions or relations between the environment and the robot force, friction, robot velocity, minimum thickness of film or sustain force of dynamic films were given. The parameters include the mucous of fluid, gravity of robot, screw number and etc. The relation between the micro robot run velocity and its drive forces, thickness of the film and its forces were also given in the chapter. The design method and rules were discussed in the chapter.Chapter three provided the mathematical model of robotic dynamics and motion and discussed the controllability of the robot running characters through the information matrix. The results can provide the basis of the control of robotic velocity and other robot running time demands.Chapter four studied the human gastro-intestine active model and simulated. Compared with the simulation and experiment results, it demonstrated that the model is quite right. On the basis of the active model, the dissertation calculated the intestine peristalsis effect on the robotic running using FEM analysis through N-S equations.Chapter five discussed the demands of the robotic running in the gastro intestine anddesigned a long distance eddy current sensor. The dissertation leads to a novel kind ofmethod to improve the measurement precision and sensitivity. The method is to putthe test signal into the chaotic dynamic system, measures the system outputs andcalculates the signal in turn. The dissertation studied the control velocity of the microrobot.Chapter six discussed the control with the demands of safety and human comfort...