Page 324 - Control Theory in Biomedical Engineering

298 Control theory in biomedical engineering

Fig. 6 The NasoXplorer before and after actuation/bending.

Bending angle vs voltage
90
Bending angle (degrees) 60
80
70
50
40
30
20
10
0
5.5 6 6.5 7 7.5 8
Voltage (V)

100% 90% 80%
Fig. 7 Bending angle against voltage feeding to the SMA.

performance of the NasoXplorer. PWM along with voltage was varied to
show how NasoXplorer performed under the varying conditions. It was
concluded that at 100% PWM and 7V, the NasoXplorer was able to per-
form best as it displayed an optimal bending angle of 63degrees. Although
a bending angle of 66degrees can be achieved at 7.5V, due to the properties
of TangoBlack, it is possible for to optimize the fracture at the flexible por-
tion of the bending over long periods of time.
3.2 Temperature monitoring during both actuation
and retraction
We used a Seek thermal camera to monitor the temperature of the device
during about 150seconds of actuation and retraction. The camera was