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  • Author: Andrej Babinec x
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Lungs are used as an attractive possibility for administration of different therapeutic substances for a long time. An innovative method of such administration widely studied nowadays is the application of aerosolized magnetic particles as the carriers to the lungs in the external non-homogeneous magnetic field. For these reasons we have studied dynamics of such a system on a level of particle trajectory in air in the presence of magnetic force as a driving force exerted on micrometric magnetic particle. On two typical examples of magnetically driven systems—motion of magnetic particle in a gradient magnetic field and cyclotron-like motion of a charged particle in homogeneous magnetic field in microscale, where the external accelerating forces are very large and the relevant time scale is of the order from fraction of milliseconds to seconds, we have examined the importance of these forces. As has been shown, for particles with high initial acceleration, not only the commonly used Stokes force but also the Basset history force should be used for correct description of the motion.


Small quadrotors, or so-called nanoquads, are widely available, typically have small take-off mass (between 12–50 g), and a flight time of about 5–10 minutes. The aim of this article is the proposal of control and development of the basic infrastructure for controlling a swarm nanoquads from an external computer and obtaining measurements from an onboard sensor. Control of nanoquad attitude and position is proposed and control allocation problem is addressed. Additionally, landing and collision detection is implemented using external disturbance force estimation. Results of the proposed control methods are verified in 4 scenarios: hover flight, manual control, step response, and collision and landing detection.