{"id":"https://openalex.org/W59110528","doi":null,"title":"Energy Efficient Iterative Adaptive On-Off Control of Capacitively-Loaded Actuators for Micro-Robots.","display_name":"Energy Efficient Iterative Adaptive On-Off Control of Capacitively-Loaded Actuators for Micro-Robots.","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W59110528","mag":"59110528"},"language":"en","primary_location":{"id":"mag:59110528","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/2027.42/93870","pdf_url":null,"source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Deep Blue (University of Michigan)","raw_type":null},"parent_works":[],"lineage":["https://openalex.org/W59110528"],"child_works_count":0,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/2027.42/93870","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112444601","display_name":"Bongsu Hahn","orcid":"https://orcid.org/0009-0005-3988-0310","observed_orcids":["https://orcid.org/0009-0005-3988-0310"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Bongsu Hahn","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5112444601"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9380000233650208,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9380000233650208,"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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.017000000923871994,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11749","display_name":"Iterative Learning Control Systems","score":0.011599999852478504,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/piezoelectric-microactuators","display_name":"piezoelectric microactuators","score":0.9110000133514404},{"id":"https://openalex.org/keywords/microrobots","display_name":"microrobots","score":0.8870000243186951},{"id":"https://openalex.org/keywords/energy-efficiency","display_name":"energy efficiency","score":0.7870000004768372},{"id":"https://openalex.org/keywords/servo-control","display_name":"servo control","score":0.859000027179718},{"id":"https://openalex.org/keywords/model-free-adaptive-control","display_name":"model-free adaptive control","score":0.7319999933242798},{"id":"https://openalex.org/keywords/convergence-analysis","display_name":"convergence analysis","score":0.7490000128746033},{"id":"https://openalex.org/keywords/energy-consumption-reduction","display_name":"energy consumption reduction","score":0.5849999785423279}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6755908727645874},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6041129231452942},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5376575589179993},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4575364887714386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45033082365989685},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40241941809654236},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3808363080024719},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2181420624256134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1300751268863678},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"mag:59110528","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/2027.42/93870","pdf_url":null,"source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Deep Blue (University of Michigan)","raw_type":null},{"id":"pmh:oai:deepblue.lib.umich.edu:2027.42/93870","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/2027.42/93870","pdf_url":null,"source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"}],"best_oa_location":{"id":"mag:59110528","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/2027.42/93870","pdf_url":null,"source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Deep Blue (University of Michigan)","raw_type":null},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W59110528.pdf","grobid_xml":"https://content.openalex.org/works/W59110528.grobid-xml"},"referenced_works_count":83,"referenced_works":["https://openalex.org/W60908348","https://openalex.org/W156735343","https://openalex.org/W207546714","https://openalex.org/W305986367","https://openalex.org/W614117236","https://openalex.org/W643633692","https://openalex.org/W1576961602","https://openalex.org/W1579670114","https://openalex.org/W1772819233","https://openalex.org/W1908453873","https://openalex.org/W1964703316","https://openalex.org/W1967958487","https://openalex.org/W1969425032","https://openalex.org/W1975884361","https://openalex.org/W1977075265","https://openalex.org/W1998133217","https://openalex.org/W2003451872","https://openalex.org/W2010326396","https://openalex.org/W2011591092","https://openalex.org/W2012039347","https://openalex.org/W2012117977","https://openalex.org/W2013817211","https://openalex.org/W2014238831","https://openalex.org/W2016079328","https://openalex.org/W2020918383","https://openalex.org/W2029354658","https://openalex.org/W2029598540","https://openalex.org/W2035542416","https://openalex.org/W2037188215","https://openalex.org/W2047706052","https://openalex.org/W2055051574","https://openalex.org/W2056489119","https://openalex.org/W2060311256","https://openalex.org/W2063498039","https://openalex.org/W2066296415","https://openalex.org/W2067567073","https://openalex.org/W2075029807","https://openalex.org/W2076730010","https://openalex.org/W2089070007","https://openalex.org/W2089370921","https://openalex.org/W2097240172","https://openalex.org/W2100793456","https://openalex.org/W2101320675","https://openalex.org/W2106147350","https://openalex.org/W2106965855","https://openalex.org/W2108916630","https://openalex.org/W2109438057","https://openalex.org/W2115247028","https://openalex.org/W2116701368","https://openalex.org/W2117228608","https://openalex.org/W2118361218","https://openalex.org/W2122349035","https://openalex.org/W2123713848","https://openalex.org/W2124289529","https://openalex.org/W2125812768","https://openalex.org/W2128452997","https://openalex.org/W2131053883","https://openalex.org/W2132300145","https://openalex.org/W2133356133","https://openalex.org/W2134153574","https://openalex.org/W2134904817","https://openalex.org/W2134911329","https://openalex.org/W2135974772","https://openalex.org/W2138076123","https://openalex.org/W2141741404","https://openalex.org/W2143699231","https://openalex.org/W2148493030","https://openalex.org/W2149428471","https://openalex.org/W2150626172","https://openalex.org/W2153517476","https://openalex.org/W2156092638","https://openalex.org/W2157507575","https://openalex.org/W2159190301","https://openalex.org/W2159345663","https://openalex.org/W2167081491","https://openalex.org/W2168486995","https://openalex.org/W2169548137","https://openalex.org/W2258335898","https://openalex.org/W2266946488","https://openalex.org/W2317926736","https://openalex.org/W2318313197","https://openalex.org/W2490634704","https://openalex.org/W2734870733"],"related_works":["https://openalex.org/W2088032393","https://openalex.org/W7099273664","https://openalex.org/W2013817211","https://openalex.org/W2067138180","https://openalex.org/W1967958487","https://openalex.org/W1978437087","https://openalex.org/W156682098","https://openalex.org/W2014238831","https://openalex.org/W2318313197"],"abstract_inverted_index":{"This":[0],"dissertation":[1],"proposes":[2],"a":[3,54,72,88,113,151,180],"pair":[4],"of":[5,14,53,62,105,109,116,144,158,211,216,230,264],"strategies":[6,46],"for":[7,58,80,208,224,262],"model-free,":[8],"iteratively":[9,78],"adaptive":[10],"\u2018on-off\u2019":[11],"switching":[12,82,126],"control":[13,56,182,203],"capacitive":[15],"micro-actuators":[16,61],"with":[17,35,166,191],"limited":[18],"sensing":[19,169],"rates":[20],"and":[21,112,148,170,219,228,233,248,256],"significant":[22],"model":[23],"uncertainty.":[24],"A":[25],"desired":[26],"actuator":[27,159,253],"motion":[28],"is":[29,69],"to":[30,38,49,128,178,200,235,258],"be":[31,164,176],"repeated":[32],"many":[33],"times,":[34],"the":[36,40,85,106,110,142,145,201,209,212,242],"ability":[37],"adjust":[39],"input":[41],"sequence":[42],"between":[43],"movements.":[44],"These":[45],"are":[47,196,221,244],"intended":[48],"limit":[50],"power":[51,173,206],"consumption":[52],"servo":[55,213],"system":[57],"capacitively-loaded":[59],"piezoelectric":[60,238,252],"autonomous":[63],"walking":[64],"micro-robots.":[65,266],"The":[66,93,122,139],"first":[67,94],"strategy":[68],"based":[70,100],"on":[71,101,250],"heuristic":[73],"dynamic":[74,107],"search":[75],"algorithm":[76],"that":[77],"searches":[79],"optimal":[81],"instances,":[83],"while":[84],"second":[86,123],"uses":[87,96,149],"stochastic":[89,136],"gradient":[90,143],"approximation":[91,137],"algorithm.":[92],"method":[95,124],"simple":[97],"adaptation":[98],"laws":[99],"known,":[102],"general":[103],"feature":[104],"behavior":[108],"actuators":[111],"small":[114],"number":[115],"measurements":[117],"taken":[118],"during":[119],"each":[120,156],"iteration.":[121],"adjusts":[125],"instances":[127],"minimize":[129],"an":[130],"objective":[131,146],"function":[132,147],"using":[133,205],"simultaneously":[134],"perturbed":[135],"(SPSA).":[138],"SPSA":[140],"estimates":[141,207],"just":[150],"single":[152],"sensor":[153],"measurement":[154],"in":[155,246],"iteration":[157],"movement.":[160],"Both":[161],"approaches":[162],"can":[163],"implemented":[165],"much":[167],"lower":[168],"driving":[171,190],"circuit":[172],"than":[174],"would":[175],"needed":[177],"implement":[179],"conventional":[181,202],"structure":[183],"such":[184],"as":[185],"pulse-width-modulation":[186],"(PWM)":[187],"or":[188],"analog":[189],"real-time":[192],"feedback.":[193],"Energy":[194],"savings":[195],"verified":[197],"by":[198],"comparison":[199],"structure,":[204],"components":[210],"system.":[214],"Methods":[215],"convergence":[217,226],"analysis":[218],"conditions":[220],"also":[222],"proposed":[223],"predicting":[225],"speed":[227],"stability":[229],"both":[231],"approaches,":[232],"applied":[234],"sample":[236],"target":[237],"actuators.":[239],"In":[240],"addition,":[241],"controllers":[243],"tested":[245],"simulation":[247],"experimentally":[249],"various":[251],"test":[254],"beds,":[255],"related":[257],"future":[259],"research":[260],"needs":[261],"realization":[263],"highly-mobile":[265]},"counts_by_year":[{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-11-14T11:04:58.165337","created_date":"2016-06-24T00:00:00"}