Tained ces obtained from a simulation model, respectively. These matrices represent the qualities on the EMA program, including the directional field strength and controllability.Diagnostics 2021, 11,four ofDiagnostics 2021, 11, x FOR PEER REVIEW4 offrom a simulation model, respectively. These matrices represent the traits from the EMA technique, such as the directional field strength and controllability. In our prior study [44], was defined by six parameters. As an adT In fromprevious study [44], web F present an end-user-oriented control algo- an our the preceding study, vancement newly preferred was defined by six parameters. As advancement from the earlier study, we newly present an end-user-oriented derithm within this paper. A friendly user interface with fewer manage parameters is very control algorithm within this paper. A friendly user interface with more intuitive for non-expert sired, as well as a simple manipulation methodology should be fewer handle parameters is extremely desired, the instruction phase could be shortened. The alignment and propulsion direcusers so thatand a basic manipulation methodology Dizocilpine Biological Activity really should be far more intuitive for non-expert customers so that the defined phase may be shortened. The alignment and propulsion directions tions on the CE had been education by two variables: pitching angle and yawing angle as shown from the CE have been defined by two variables: functions of a and yawing angle as shown in Figure 2a. These variables had been mapped to pitching angle joystick as shown in Figure in Figure 2a. These variables have been mapped to functions of a joystick as shown in Figure 2b. 2b. Right after deciding the heading path, the moving command (forward or backward) Just after deciding the heading direction, the moving command (forward or backward) was was executed by pressing the trigger (-)-Epicatechin gallate Autophagy button around the joystick. For stable movement, the executed by pressing the trigger button on the joystick. For stable movement, the operator operator need to give suitable values of magnetic field and force, because an inappromust give appropriate values of magnetic field and force, because an inappropriate pair can priate pair can bring about low control accuracy, in particular when the CE is near the boundary result in low manage accuracy, particularly when the CE is close to the boundary from the ROI. As a result, on the ROI. Therefore, as a result of the behavior examination with the EMA method, we experias a result on the behavior examination with the EMA method, we experimentally explored mentally explored that a ratio of magnetic field B (in Tesla) and gradient field (in Tesla that a ratio of magnetic field B (in Tesla) and gradient field (in Tesla per meter) of 1:10 per meter) of 1:10 resulted within a high uniformity of your magnetic field in the ROI and precise resulted inside a high uniformity in the magnetic field in the ROI and precise control. Thus, manage. As a result, we set 1: 10 because the default ratio on the magnetic field and gradient we set = 1 : 10 as the default ratio of your magnetic field and gradient field magnitude, field magnitude, and three parameters have been left to be controlled by the user, including and 3 parameters have been left to become controlled by the user, including yaw (y), pitch (p), yaw (y), pitch (p), and pushing force (F). The desired parameters may be described as foland pushing force (F). The preferred parameters can be described as follows: lows: Fcos( p )cos(y) Fcos( p)sin(y) Fsin B ( p) = (, , F ) = C y, p, F (4) (four) F desired Fcos.
