<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1794-1237</journal-id>
<journal-title><![CDATA[Revista EIA]]></journal-title>
<abbrev-journal-title><![CDATA[Rev.EIA.Esc.Ing.Antioq]]></abbrev-journal-title>
<issn>1794-1237</issn>
<publisher>
<publisher-name><![CDATA[Escuela de ingenieria de Antioquia]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1794-12372018000200151</article-id>
<article-id pub-id-type="doi">10.24050/reia.v15i30.1254</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Herramienta para la simulación del movimiento de un micro robot para aplicaciones médicas a partir de un arreglo de bobinas basadas en Maxwell - Helmholtz. (Herramienta de simulación para navegación de microrobots)]]></article-title>
<article-title xml:lang="en"><![CDATA[Simulation tool for microrobot navigation in medical applications, based on Maxwell - Helmholtz coil array. (Simulation tool for microrobot navigation).]]></article-title>
<article-title xml:lang="pt"><![CDATA[Ferramenta para simulação do movimento de um micro robô para aplicações médicas, a partir de bobinas magnéticas baseadas no arranjo de Maxwell-Helmholtz]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Muñoz-Medina]]></surname>
<given-names><![CDATA[Martín Alonso]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Vivas]]></surname>
<given-names><![CDATA[Oscar A.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Riccotti]]></surname>
<given-names><![CDATA[Leonardo]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad del Cauca  ]]></institution>
<addr-line><![CDATA[Popayán ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad del Cauca  ]]></institution>
<addr-line><![CDATA[Popayán ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,BioRobotics Institute, Scuola Superiore Sant&#8217;Anna  ]]></institution>
<addr-line><![CDATA[Pisa ]]></addr-line>
<country>Italia</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2018</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2018</year>
</pub-date>
<volume>15</volume>
<numero>30</numero>
<fpage>151</fpage>
<lpage>160</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_arttext&amp;pid=S1794-12372018000200151&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_abstract&amp;pid=S1794-12372018000200151&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_pdf&amp;pid=S1794-12372018000200151&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen  Objetivo:  Los micro robots pueden ser movidos de varias maneras, una de ellas hace uso de señales magnéticas. Este artículo muestra un sistema de navegación magnético para mover y orientar un micro robot para un eventual uso médico, así como una herramienta gráfica para simular el movimiento de dicho micro robot.  Materiales y métodos:  El artículo presenta inicialmente el proceso de fabricación de un micro robot a partir de diferentes concentraciones de polvo magnético sobre un polímero, su movimiento experimental utilizando un arreglo de bobinas, y la implementación de una herramienta gráfica que simula dicho movimiento.  Resultados:  El micro robot fabricado pudo moverse en una pequeña arena experimental, variando su posición y orientación dependiendo de la corriente inyectada a dos bobinas que utilizan el arreglo de Maxwell - Helmholtz. La herramienta gráfica, que fue implementada en Unity 3D, mostró un comportamiento muy similar al real.  Conclusiones:  La herramienta gráfica probó que puede simular con precisión el movimiento real de un micro robot movido a través de dos bobinas magnéticas que utilizan el arreglo de Maxwell - Helmholtz.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract  Objective:  Microrobots can be operated in many ways, one of them is through magnetic fields. This paper shows a magnetic navigation system to move and direction a microrobot for future medical use, as well as a graphic tool for the simulation.  Material and method:  This article presents at first the fabritation process of the microrobot given by different powder concentrations in a polymer, the experimentation movement by a coil array and the development of a graphic tool to simulate the behavior.  Results:  The built microrobot could move in a small arena, changing its position and orientation depending of the amount of current applied to the coil array Maxwell Helmholtz. The graphic tool, developed in Unity 3D, shows a behavior similar to the real one.  Conclusions:  The graphic tool proved itself to simulate with high accuracy the movement of the real microrobot through the coil array Maxwell - Helmholtz.]]></p></abstract>
<abstract abstract-type="short" xml:lang="pt"><p><![CDATA[Resumo  Objetivo:  Micros robôs podem-se mover fazendo uso de sinais magnéticos. Este artigo amostra um sistema de navegação magnética para mover e orientar um micro robô de uso médico, além apresenta uma ferramenta gráfica para simular o movimento do micro robô.  Materiais e métodos:  Neste artigo apresenta-se o processo de fabricação de um micro robô a partir de diferentes concentrações de pó magnético sobre um polímero. O movimento experimental do micro robô descreve-se utilizando um arranjo de bobinas e a simulação do seu movimento é apresentada através de uma ferramenta gráfica.  Resultados:  O micro robô fabricado foi capaz de moverse em uma pequena arena experimental, suas variações de posição e orientação dependeram da corrente injetada em duas bobinas construídas segundo o arranjo Maxwell Helmholtz. A ferramenta gráfica foi implementada no Unity 3D e mostrou um comportamento muito semelhante ao real.  Conclusões:  A ferramenta gráfica demonstrou sua capacidade para simular com precisão o movimento real de um micro robô, que é movido através de duas bobinas magnéticas que utilizam o arranjo Maxwell Helmholtz.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Micro robots]]></kwd>
<kwd lng="es"><![CDATA[Campos Magnéticos]]></kwd>
<kwd lng="es"><![CDATA[Maxwell - Helmholtz]]></kwd>
<kwd lng="es"><![CDATA[Simulación Gráfica]]></kwd>
<kwd lng="en"><![CDATA[micro robots]]></kwd>
<kwd lng="en"><![CDATA[magnetic field]]></kwd>
<kwd lng="en"><![CDATA[Maxwell - Helmholtz]]></kwd>
<kwd lng="en"><![CDATA[graphic simulation]]></kwd>
<kwd lng="pt"><![CDATA[micro robôs]]></kwd>
<kwd lng="pt"><![CDATA[campos magnéticos]]></kwd>
<kwd lng="pt"><![CDATA[Maxwell Helmholtz]]></kwd>
<kwd lng="pt"><![CDATA[simulação gráfica]]></kwd>
</kwd-group>
</article-meta>
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