{"id":"https://openalex.org/W4417169026","doi":"https://doi.org/10.1109/access.2025.3641895","title":"Instrumenting a Triaxial Helmholtz System for Position-Independent Magnetic Force Control: Modeling, Calibration, and Validation","display_name":"Instrumenting a Triaxial Helmholtz System for Position-Independent Magnetic Force Control: Modeling, Calibration, and Validation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4417169026","doi":"https://doi.org/10.1109/access.2025.3641895"},"language":null,"primary_location":{"id":"doi:10.1109/access.2025.3641895","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3641895","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3641895","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041107304","display_name":"Sangwon Lee","orcid":"https://orcid.org/0000-0002-9763-4821"},"institutions":[{"id":"https://openalex.org/I178169726","display_name":"Southern Methodist University","ror":"https://ror.org/042tdr378","country_code":"US","type":"education","lineage":["https://openalex.org/I178169726"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangwon Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Southern Methodist University, Dallas, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Southern Methodist University, Dallas, TX, USA","institution_ids":["https://openalex.org/I178169726"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092440367","display_name":"Muhammad I. Azeez","orcid":"https://orcid.org/0000-0002-3013-0303"},"institutions":[{"id":"https://openalex.org/I178169726","display_name":"Southern Methodist University","ror":"https://ror.org/042tdr378","country_code":"US","type":"education","lineage":["https://openalex.org/I178169726"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Muhammad I. Azeez","raw_affiliation_strings":["Department of Mechanical Engineering, Southern Methodist University, Dallas, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-3013-0303","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Southern Methodist University, Dallas, TX, USA","institution_ids":["https://openalex.org/I178169726"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049439234","display_name":"Yasin Cagatay Duygu","orcid":"https://orcid.org/0000-0003-3059-0825"},"institutions":[{"id":"https://openalex.org/I178169726","display_name":"Southern Methodist University","ror":"https://ror.org/042tdr378","country_code":"US","type":"education","lineage":["https://openalex.org/I178169726"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yasin Cagatay Duygu","raw_affiliation_strings":["Department of Mechanical Engineering, Southern Methodist University, Dallas, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-3059-0825","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Southern Methodist University, Dallas, TX, USA","institution_ids":["https://openalex.org/I178169726"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062922015","display_name":"Min Jun Kim","orcid":"https://orcid.org/0000-0002-0819-1644"},"institutions":[{"id":"https://openalex.org/I178169726","display_name":"Southern Methodist University","ror":"https://ror.org/042tdr378","country_code":"US","type":"education","lineage":["https://openalex.org/I178169726"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Min Jun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Southern Methodist University, Dallas, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-0819-1644","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Southern Methodist University, Dallas, TX, USA","institution_ids":["https://openalex.org/I178169726"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I178169726"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16159324,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"208948","last_page":"208961"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.6557999849319458,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.6557999849319458,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.1704999953508377,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.1005999967455864,"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/tikhonov-regularization","display_name":"Tikhonov regularization","score":0.829800009727478},{"id":"https://openalex.org/keywords/helmholtz-coil","display_name":"Helmholtz coil","score":0.7591999769210815},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.5885000228881836},{"id":"https://openalex.org/keywords/helmholtz-free-energy","display_name":"Helmholtz free energy","score":0.5737000107765198},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.532800018787384},{"id":"https://openalex.org/keywords/electromagnetic-coil","display_name":"Electromagnetic coil","score":0.5205000042915344},{"id":"https://openalex.org/keywords/current","display_name":"Current (fluid)","score":0.45840001106262207},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.39169999957084656},{"id":"https://openalex.org/keywords/magnetostatics","display_name":"Magnetostatics","score":0.37860000133514404}],"concepts":[{"id":"https://openalex.org/C152442038","wikidata":"https://www.wikidata.org/wiki/Q2778212","display_name":"Tikhonov regularization","level":3,"score":0.829800009727478},{"id":"https://openalex.org/C2778252132","wikidata":"https://www.wikidata.org/wiki/Q1603273","display_name":"Helmholtz coil","level":3,"score":0.7591999769210815},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.6222000122070312},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.5885000228881836},{"id":"https://openalex.org/C27592594","wikidata":"https://www.wikidata.org/wiki/Q865821","display_name":"Helmholtz free energy","level":2,"score":0.5737000107765198},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.532800018787384},{"id":"https://openalex.org/C30403606","wikidata":"https://www.wikidata.org/wiki/Q2981904","display_name":"Electromagnetic coil","level":2,"score":0.5205000042915344},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.4837999939918518},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.45840001106262207},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.4052000045776367},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.39169999957084656},{"id":"https://openalex.org/C95390329","wikidata":"https://www.wikidata.org/wiki/Q665093","display_name":"Magnetostatics","level":3,"score":0.37860000133514404},{"id":"https://openalex.org/C18591234","wikidata":"https://www.wikidata.org/wiki/Q860615","display_name":"Helmholtz equation","level":3,"score":0.35440000891685486},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.35120001435279846},{"id":"https://openalex.org/C106997767","wikidata":"https://www.wikidata.org/wiki/Q178032","display_name":"Electromagnet","level":3,"score":0.3391999900341034},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.328000009059906},{"id":"https://openalex.org/C140190676","wikidata":"https://www.wikidata.org/wiki/Q172137","display_name":"Lorentz force","level":3,"score":0.30959999561309814},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3028999865055084},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.29980000853538513},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.28349998593330383},{"id":"https://openalex.org/C157479481","wikidata":"https://www.wikidata.org/wiki/Q177831","display_name":"Magnetic flux","level":3,"score":0.2727999985218048},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.27149999141693115},{"id":"https://openalex.org/C64905793","wikidata":"https://www.wikidata.org/wiki/Q822938","display_name":"Conservative force","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2605000138282776},{"id":"https://openalex.org/C78902741","wikidata":"https://www.wikidata.org/wiki/Q4915071","display_name":"Biomagnetism","level":3,"score":0.25459998846054077},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C206736587","wikidata":"https://www.wikidata.org/wiki/Q1061251","display_name":"Magnetic levitation","level":3,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/access.2025.3641895","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3641895","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3641895","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3641895","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2423525854","display_name":"Collaborative Research: Deformation-Enhanced Dynamics and Control of Microscale Modular Soft Robots","funder_award_id":"2518336","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1973603877","https://openalex.org/W1994965181","https://openalex.org/W1996718296","https://openalex.org/W2005490094","https://openalex.org/W2023276180","https://openalex.org/W2030670532","https://openalex.org/W2034174148","https://openalex.org/W2043070243","https://openalex.org/W2076579676","https://openalex.org/W2094904022","https://openalex.org/W2124436197","https://openalex.org/W2157304479","https://openalex.org/W2167301733","https://openalex.org/W2168046319","https://openalex.org/W2558248123","https://openalex.org/W2559914015","https://openalex.org/W2766647001","https://openalex.org/W2768351098","https://openalex.org/W2904108799","https://openalex.org/W2916514847","https://openalex.org/W2952039813","https://openalex.org/W2998813567","https://openalex.org/W3001194984","https://openalex.org/W3119476236","https://openalex.org/W3200690805","https://openalex.org/W3203491130","https://openalex.org/W4206275947","https://openalex.org/W4210583882","https://openalex.org/W4285222240","https://openalex.org/W4289996575","https://openalex.org/W4307044600","https://openalex.org/W4307170216","https://openalex.org/W4362653117","https://openalex.org/W4386362905","https://openalex.org/W4408069597","https://openalex.org/W4408951584"],"related_works":[],"abstract_inverted_index":{"This":[0,82],"paper":[1],"presents":[2],"a":[3,40,70,145,155],"triaxial":[4],"Helmholtz":[5,156],"coil":[6,46],"instrument":[7],"that":[8,44],"generates":[9],"position-independent":[10],"magnetic":[11,49,152],"gradients":[12,76],"for":[13,123,150],"microrobot":[14,135],"force":[15,36],"actuation":[16,42],"without":[17,77],"auxiliary":[18],"Maxwell":[19],"coils.":[20],"By":[21],"independent":[22],"driving":[23],"six":[24],"coils":[25],"with":[26,57,102],"asymmetric":[27],"current":[28,110,124],"pairs,":[29],"the":[30,33,141],"system":[31,143],"decouples":[32],"three":[34],"Cartesian":[35],"components.":[37],"We":[38,126],"derive":[39],"fixed":[41],"matrix":[43],"maps":[45],"currents":[47],"to":[48],"field":[50],"and":[51,63,109,117],"gradient,":[52],"via":[53],"COMSOL-assisted":[54],"modeling":[55],"combined":[56],"in":[58,137],"situ":[59],"triaxial-magnetometer":[60],"calibration.":[61],"Simulation":[62],"experimental":[64],"measurements":[65],"show":[66],"99%":[67],"agreement":[68],"across":[69],"40\u00d740\u00d740":[71],"mm3":[72],"workspace,":[73],"confirming":[74],"near-uniform":[75],"any":[78],"position-dependent":[79],"look-up":[80],"table.":[81],"fixed-matrix":[83],"approach":[84],"is":[85,92],"particularly":[86],"useful":[87],"when":[88],"real-time":[89],"vision-based":[90],"feedback":[91],"intermittent":[93],"or":[94,99,104],"unavailable":[95],"(e.g.,":[96],"ocular":[97],"surgery":[98],"combat-related":[100],"injuries":[101],"opacity":[103],"bleeding).":[105],"To":[106],"address":[107],"ill-conditioning":[108],"limits,":[111],"we":[112],"consider":[113],"Tikhonov":[114],"regularization":[115],"(TR)":[116],"truncated":[118],"space":[119],"vector":[120],"decomposition":[121],"(TSVD)":[122],"allocation.":[125],"further":[127],"validate":[128],"gradient":[129],"control":[130],"by":[131],"demonstrating":[132],"open-loop":[133],"three-dimensional":[134],"translations":[136],"viscous":[138],"media.":[139],"Overall,":[140],"proposed":[142],"provides":[144],"compact,":[146],"cost-effective,":[147],"metrology-ground":[148],"framework":[149],"gradient-based":[151],"manipulation":[153],"using":[154],"architecture.":[157]},"counts_by_year":[],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-12-09T00:00:00"}
