Analysis and determination of the workspace of electromagnetic navigation systems

Description

This repository is composed of Jupyter notebooks to determine and analyse the workspace of electromagnetic navigation systems.

Computation of available magnetic field as convex polyhedra

Determination of magnetic workspace using dicretization approach or interval analysis

Experimental validation

Publications

[1] Q. Boehler et al. "On the Workspace of Electromagnetic Navigation Systems," IEEE Transactions on Robotics (2022).

[2] S. Gervasoni et al. "A Human-Scale Clinically Ready Electromagnetic Navigation System for Magnetically Responsive Biomaterials and Medical Devices," Advanced Materials (2024).

Using code in pre-installed environment

The code is available in a pre-installed environment on CodeOcean (for release v1.0.0).

Usage

Compatibility

This code was developped and tested on Linux O.S. (Ubuntu 20.04) and with Python 3.8.

Installing dependencies

Libary for utilies functions import

The functions used in the notebooks are defined in utilities.ipynb and imported as from ipynb.fs.defs.utilities import *. This requires the following package:

pip3 install ipynb --upgrade

Libraries for magnetic models

Install libraries for magnetic manpipulation:

pip install mag-manip

Libraries for graphics and plotting

Install Matplotlib and MPL_toolkits.

Libraries for maths and computation

Install:

• NumPy
• PyYAML
• Pandas
• SciPy

Libraries for interval analysis

Install PyInterval and the python binding of ibex.

Installing Jupyter notebook

The Jupyter Notebook is an open source web application that you can use to create and share documents that contain live code, equations, visualizations, and text. It is convenient to use Jupyter as an interactive python editor where you can run the code directely from a web browser and create some plots. Install pip and the Python header files, which are used by some of Jupyter’s dependencies:

sudo apt install python3-pip python3-dev
pip install jupyter
pip install jupyterlab
pip install ipywidgets

Clone the Repository

Clone the repository in your home folder

cd ~
git clone [email protected]:ethz-msrl/Workspace_eMNS.git

or download the source code and place it in your home folder.

Launching Jupyter Lab

To launch Jupyter open a terminal and launch jupyter notebook. This will open a webbrowser window.

jupyter lab

Launching Jupyter Notebook (alternative to Jupyter lab)

To launch Jupyter open a terminal and launch jupyter notebook. This will open a webbrowser window.

jupyter notebook