{"id":"https://openalex.org/W2109349754","doi":"https://doi.org/10.1109/icmens.2003.1222020","title":"Performance improvement of a magnetically levitated microrobot using an adaptive control","display_name":"Performance improvement of a magnetically levitated microrobot using an adaptive control","publication_year":2004,"publication_date":"2004-05-06","ids":{"openalex":"https://openalex.org/W2109349754","doi":"https://doi.org/10.1109/icmens.2003.1222020","mag":"2109349754"},"language":"en","primary_location":{"id":"doi:10.1109/icmens.2003.1222020","doi":"https://doi.org/10.1109/icmens.2003.1222020","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmens.2003.1222020","pdf_url":null,"source":{"id":"https://openalex.org/S4306419674","display_name":"International Conference on MEMS, NANO, and Smart Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings International Conference on MEMS, NANO and Smart Systems","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024831413","display_name":"Mir Behrad Khamesee","orcid":"https://orcid.org/0000-0002-2214-182X","observed_orcids":["https://orcid.org/0000-0002-2214-182X"]},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M.B. Khamesee","raw_affiliation_strings":["Department of Mechanical Engineering, University of Alberta, Edmonton, AB, Canada","Dept. of Mech. Eng., Alberta Univ., Edmonton, Alta., Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Alberta Univ., Edmonton, Alta., Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021147391","display_name":"Norihiko Kato","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"N. Kato","raw_affiliation_strings":["Department of Mechanical Engineering, Mie University, Tsu, Mie, Japan","Mie University ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Mie University, Tsu, Mie, Japan","institution_ids":["https://openalex.org/I178574317"]},{"raw_affiliation_string":"Mie University ,","institution_ids":["https://openalex.org/I178574317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003412542","display_name":"Yuki Nomura","orcid":"https://orcid.org/0000-0002-6091-5902","observed_orcids":["https://orcid.org/0000-0002-6091-5902"]},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Nomura","raw_affiliation_strings":["Department of Mechanical Engineering, Mie University, Tsu, Mie, Japan","Mie University ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Mie University, Tsu, Mie, Japan","institution_ids":["https://openalex.org/I178574317"]},{"raw_affiliation_string":"Mie University ,","institution_ids":["https://openalex.org/I178574317"]}]},{"author_position":"last","author":{"id":null,"display_name":"T. Nakamura","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Nakamura","raw_affiliation_strings":["Department of Precision Engineering, Tokyo Metropolitan University, Tokyo, Japan","Tokyo metropolitan Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, Tokyo Metropolitan University, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]},{"raw_affiliation_string":"Tokyo metropolitan Univ","institution_ids":["https://openalex.org/I69740276"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4335,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.87931463,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"332","last_page":"338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11602","display_name":"Magnetic Bearings and Levitation Dynamics","score":0.7782999873161316,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11602","display_name":"Magnetic Bearings and Levitation Dynamics","score":0.7782999873161316,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.09790000319480896,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.04430000111460686,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptive-control","display_name":"adaptive control","score":0.9330000281333923},{"id":"https://openalex.org/keywords/model-reference-adaptive-system","display_name":"model reference adaptive system","score":0.9589999914169312},{"id":"https://openalex.org/keywords/pid-control","display_name":"PID control","score":0.7620000243186951},{"id":"https://openalex.org/keywords/vertical-positioning","display_name":"vertical positioning","score":0.6000000238418579},{"id":"https://openalex.org/keywords/payload-variation","display_name":"payload variation","score":0.8240000009536743},{"id":"https://openalex.org/keywords/electromagnetic-actuation","display_name":"electromagnetic actuation","score":0.5920000076293945}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.791569709777832},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7129313945770264},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.657482385635376},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5910956859588623},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4981265068054199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4566021263599396},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4440646469593048},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43661007285118103},{"id":"https://openalex.org/C206736587","wikidata":"https://www.wikidata.org/wiki/Q1061251","display_name":"Magnetic levitation","level":3,"score":0.4327136278152466},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37362605333328247},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.2524598240852356},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2507878839969635},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.13698476552963257},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11642268300056458},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1155804991722107},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmens.2003.1222020","doi":"https://doi.org/10.1109/icmens.2003.1222020","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmens.2003.1222020","pdf_url":null,"source":{"id":"https://openalex.org/S4306419674","display_name":"International Conference on MEMS, NANO, and Smart Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings International Conference on MEMS, NANO and Smart Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2014638583","https://openalex.org/W2106565713","https://openalex.org/W2131066213","https://openalex.org/W2163252428","https://openalex.org/W2535476435"],"related_works":["https://openalex.org/W2163252428","https://openalex.org/W2015210378","https://openalex.org/W2533502284","https://openalex.org/W2152661282","https://openalex.org/W4387350681","https://openalex.org/W2618275341","https://openalex.org/W2743843263","https://openalex.org/W2120490278","https://openalex.org/W3133929614","https://openalex.org/W4411197860"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2,61],"with":[3,62,112],"an":[4,7,16,87],"application":[5],"of":[6,50,140],"adaptive":[8,88,120,151],"control":[9,67,89,152],"to":[10,72,110,136],"a":[11,19,26,30,65],"magnetically":[12],"levitated":[13,22],"microrbot.":[14],"Using":[15],"electromagnetic":[17],"device,":[18],"microrobot":[20,34,52,60,75],"is":[21,91,128],"and":[23,41,114,130,132,145,150],"manipulated":[24],"within":[25],"3-D":[27],"space":[28],"inside":[29],"magnetic":[31],"field.":[32],"The":[33,143],"has":[35],"two":[36],"fingers":[37],"that":[38,102],"can":[39],"grasp":[40],"elevate":[42],"objects.":[43],"PID":[44,66,149],"controls":[45],"are":[46,134,153],"applied":[47],"for":[48,94,148,155],"positioning":[49,96],"the":[51,54,59,74,80,85,95,98,103,125,138,141],"in":[53,79,97,108,116],"three":[55],"axes.":[56],"However,":[57],"as":[58],"various":[63],"payloads,":[64],"may":[68],"not":[69],"be":[70],"sufficient":[71],"maintain":[73],"on":[76,124],"high":[77],"performance":[78],"vertical":[81,99],"axis.":[82],"To":[83],"improve":[84],"performance,":[86],"law":[90],"also":[92],"examined":[93],"axis":[100],"so":[101],"controller":[104],"parameters":[105],"become":[106],"adjustable":[107],"real-time":[109],"cope":[111],"uncertainties":[113],"variations":[115],"payloads.":[117],"A":[118],"model-reference":[119],"system":[121],"(MRAS)":[122],"based":[123],"augmented":[126],"error":[127],"designed,":[129],"simulations":[131],"experiments":[133],"conducted":[135],"verify":[137],"effectiveness":[139],"control.":[142],"simulation":[144],"experimental":[146],"results":[147],"shown":[154],"comparison.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}