Vanderbilt University

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Pietro Valdastri

Keith L Obstein

Piotr Robert Slawinski

Systems and methods are presented for localization of a capsule based on magnetic fields. The capsule is positioned in a magnetic field generated by a first magnet and an electromagnetic coil is operated to generate a sinusoidal magnetic field with a magnetic moment orthogonal to the magnetic moment of the first magnet. An average signal measurement calculated for each magnetic field sensor is defined as the magnetic field applied to the magnetic field sensor by the first magnet and used as an offset to determine the magnetic field applied by the electromagnetic coil. The pose of the capsule is then determined based at least in part on a combination of magnetic field signals applied by the electromagnetic coil to each of the magnetic field sensors.

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Nashville, TN, United States of America

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