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Data-Driven Control for Magnetic Actuation Capsule: Dynamic Compensation and Input Constraints

Abstract

In the magnetic actuation system, MAC (Magnetically Actuated Capsule) motion is disturbed by gastrointestinal resistance, and dynamic constraints exist between MAC and EPM (External Permanent Magnet), leading to control difficulties. This paper presents a data-driven control method for magnetic actuation system. Firstly, a data-driven modeling approach is proposed for addressing the modeling challenges, relying solely on MAC visual positioning input and EPM position output data. Secondly, To effectively track rapidly changing MAC desired trajectories, determining the upper bound of system inputs through analysis of the magnetic field relationship, and integrating it with adaptive parameter reset conditions, enables the establishment of dynamic constraints for the MAC system. Finally, dynamic compensation is applied to account for non-linear resistance terms and inaccuracies in data model representation. A dual-visual positioning experimental platform simulating the gastrointestinal environment is established to validate the proposed algorithm's effectiveness in MAC trajectory tracking under different conditions.

article Article; Early Access

date_range 2024

language English

link Link of the paper

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Chen Peng

He Xiongxiong

Zhu Jinhui

Li Sheng

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Featured Keywords

Gastrointestinal tract

Force

Resistance

Dynamics

Robots

Permanent magnets

Magnetic resonance imaging

Magnetically actuated capsule

data-driven adaptive control

dynamic input constraints

dual-visual positioning experimental platform

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Assessment of reinforced concrete building damages following the Kahramanmaraş earthquakes in Malatya, Turkey (February 6, 2023)

Abstract

Earthquakes of magnitude Mw = 7.7 and Mw = 7.6 hit the city of Kahramanmaraş (Turkey) on 6 February 2023. These earthquakes caused serious damage in 11 provinces in Turkey resulting in over 50,000 deaths and huge economic losses with the collapse of thousands of buildings. Two consecutive devastating earthquakes have severely damaged the reinforced concrete building stock located in Malatya. There are many reasons reinforced concrete structures suffer damage under the influence of seismic loads. These reasons can be listed as material and section properties that do not comply with earthquake codes, workmanship defects, ground parameters that are not considered and design errors, as seen in field investigations after earthquakes in Turkey in the past. In this research, a field study was conducted on reinforced concrete buildings damaged after the earthquakes in Malatya province. The causes of structural damages in reinforced concrete buildings between 6–26 years of age were assessed in terms of design and material defects. The structural damages were mainly caused due to insufficient stirrups in structural members, short column, strong beam–weak column, failures of infill walls, soft story type collapse, poor concrete quality, and reinforcement corrosion. In addition to the field investigation, the spectrum relationships created using raw acceleration data obtained from DEMP (Disaster and Emergency Management Presidency) stations in Malatya province were compared with the design response spectra.

article Article

date_range 2024

language English

link Link of the paper

Collapsed buildings

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