steering_magnetic_robots

Code supporting IROS 2020 paper "Steering Magnetic Robots in Two Axes with One Pair of Maxwell Coils"

MAIN Scripts

These files are the main functions for performing different calculations. Please start with MAIN.m which establishes the codebase workflow. Further details for individual scripts are below.

(1) MAIN_01_BFieldDataProcessing :- Computes the mean and standard deviation for a set of data characterizing the magnetic field. Saves the values to a csv file. Plots the data and compares to theoretical values.

(2) MAIN_02_ExpDataProcessing :- Process the experimental data and save the average values and standard deviations to a csv file for future use.

(3) MAIN_03_GenerateFieldData :- Generate an array of values for the magnetic field and magnetic field gradient.

(4) MAIN_04_DragGradDescent :- Uses gradient descent to find value of drag coefficient that best fits experimental data.

(5) MAIN_05_DynamicsModel :- Uses ode15s to simulate the dynamics of the swimmer given the drag coefficient and magnetic field model computed earlier.

(6) MAIN_06_PlotDynamics :- Script that contains code to generate multiple plots as desired for paper.

MAIN_SwitchingTimeOpt_SingleLinkModelCoil_WithCost :- Implementation of switching time optimization.

MAIN_SwitchingTimeOpt_SingleLinkModelCoil_WithCost_Case3 :- Implementation of switching time optimization for test case 3.

MAIN_SwitchingTimeOpt_SingleLinkModelCoil_WithCost_Manual_dJdt :- Implementation of switching time optimization with manual check of gradient of cost function.

Additional Scripts

ReynoldsNumber :- Used to compute the Reynolds number for this work and comparative examples in literature.

FitCoilModeltoData :- Used to apply an optional multivariate polynomial to experimental magnetic field data.

Folders

(1) active_functions :- contains the functions currently being used in the various MAIN scripts.

(2) script_archive :- contains old scripts no longer in use.

(3) experimental_data :- contains all experimental data used in this work.

VAR Files

VARIABLES :- These parameters describe the Maxwell coil parameters and other relevant values of commonly used variables in the models.

For Questions/Comments/Concerns

Please contact Emma Benjaminson at ebenjami@andrew.cmu.edu

Please cite our paper in IROS if you draw upon this codebase. Thank you.