The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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FEM-based Bayesian Optimization of Electromagnet Configuration for Enhancing Microrobot Actuation

마이크로 로봇 작동 성능 향상을 위한 FEM 기반의 전자석 배치 베이지안 최적화

  • Hyeokjin Kweon (Mechanical Engineering, Pusan National University) ;
  • Donghoon Son (Mechanical Engineering, Pusan National University)
  • Received : 2023.10.27
  • Accepted : 2023.11.22
  • Published : 2024.02.29
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Abstract

This paper introduces an approach to enhance the performance of magnetic manipulation systems for microrobot actuation. A variety of eight-electromagnet configurations have been proposed to date. The previous study revealed that achieving 5 degrees of freedom (5-DOF) control necessitates at least eight electromagnets without encountering workspace singularities. But so far, the research considering the influence of iron cores embedded in electromagnets has not been conducted. This paper offers a novel approach to optimizing electromagnet configurations that effectively consider the influence of iron cores. The proposed methodology integrates probabilistic optimization with finite element methods (FEM), using Bayesian Optimization (BO). The Bayesian optimization aims to optimize the worst-case magnetic force generation for enhancing the performance of magnetic manipulation system. The proposed simulation-based model achieves approximately 20% improvement compared to previous systems in terms of actuation performance. This study has the potential for enhancing magnetic manipulation systems for microrobot control, particularly in medical and microscale technology applications.

Keywords

Acknowledgement

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2022R1C1C1009980) and Pusan National University Research Grant, 2021

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