{"id":"https://openalex.org/W3094451856","doi":"https://doi.org/10.1109/cacre50138.2020.9229987","title":"Dynamic Characteristics Analysis of A Magnetically Driven Dual Hemisphere Capsule Robot by Eccentric Gravity Center","display_name":"Dynamic Characteristics Analysis of A Magnetically Driven Dual Hemisphere Capsule Robot by Eccentric Gravity Center","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3094451856","doi":"https://doi.org/10.1109/cacre50138.2020.9229987","mag":"3094451856"},"language":"en","primary_location":{"id":"doi:10.1109/cacre50138.2020.9229987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre50138.2020.9229987","pdf_url":null,"source":{"id":"https://openalex.org/S4306498616","display_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"},"type":"article","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/A5100663286","display_name":"Huiyuan Yang","orcid":"https://orcid.org/0000-0003-0517-5187"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huiyuan Yang","raw_affiliation_strings":["Laboratory for Precision & Non-Traditional Machining of Ministry of China, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Laboratory for Precision & Non-Traditional Machining of Ministry of China, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101868206","display_name":"Yongshun Zhang","orcid":"https://orcid.org/0000-0002-2964-6425"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongshun Zhang","raw_affiliation_strings":["Laboratory for Precision & Non-Traditional Machining of Ministry of China, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Laboratory for Precision & Non-Traditional Machining of Ministry of China, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100766938","display_name":"Xu Liu","orcid":"https://orcid.org/0000-0002-5107-1074"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Liu","raw_affiliation_strings":["Laboratory for Precision & Non-Traditional Machining of Ministry of China, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Laboratory for Precision & Non-Traditional Machining of Ministry of China, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100663286"],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33333333,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"30","issue":null,"first_page":"101","last_page":"109"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9900000095367432,"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":0.9571999907493591,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.6683887839317322},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5505212545394897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42056405544281006},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4143676459789276},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37852752208709717},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3642526865005493},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32485905289649963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19480004906654358}],"concepts":[{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.6683887839317322},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5505212545394897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42056405544281006},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4143676459789276},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37852752208709717},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3642526865005493},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32485905289649963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19480004906654358},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cacre50138.2020.9229987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre50138.2020.9229987","pdf_url":null,"source":{"id":"https://openalex.org/S4306498616","display_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"},{"id":"mag:3202205589","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=202002282837061444","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1502144173","https://openalex.org/W1587441778","https://openalex.org/W1964850045","https://openalex.org/W1968415082","https://openalex.org/W1974386034","https://openalex.org/W1990232325","https://openalex.org/W1992416340","https://openalex.org/W2019643737","https://openalex.org/W2036572195","https://openalex.org/W2042039410","https://openalex.org/W2043070243","https://openalex.org/W2052838044","https://openalex.org/W2063528635","https://openalex.org/W2070210159","https://openalex.org/W2077133085","https://openalex.org/W2094571631","https://openalex.org/W2158550919","https://openalex.org/W2167301733","https://openalex.org/W2213663504","https://openalex.org/W2279698429","https://openalex.org/W2296148669","https://openalex.org/W2299954058","https://openalex.org/W2402923555","https://openalex.org/W2463747281","https://openalex.org/W2492201407","https://openalex.org/W2606312260","https://openalex.org/W2609581415","https://openalex.org/W2765091582","https://openalex.org/W2768771430","https://openalex.org/W6629968497"],"related_works":["https://openalex.org/W2728578999","https://openalex.org/W1982160337","https://openalex.org/W2898815460","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2160609742","https://openalex.org/W2979526210","https://openalex.org/W1997414638"],"abstract_inverted_index":{"Capsule":[0],"robots":[1],"have":[2],"broad":[3],"application":[4,183],"prospects":[5],"for":[6,74,180],"interventional":[7],"diagnosis":[8],"and":[9,35,65,89,158],"treatment":[10],"in":[11,62,68,169],"the":[12,33,48,58,81,84,94,100,103,107,121,126,135,138,150,154,159,170,181,185],"gastrointestinal":[13],"tract.":[14],"This":[15,173],"paper":[16],"proposes":[17],"a":[18,25,44,177],"dual":[19,49,95,127,139,160,186],"hemisphere":[20,50,96,128,140,161,187],"capsule":[21,51,97,129,141,162,188],"robot":[22,52,130,142,163],"driven":[23],"by":[24,106,148],"pure":[26],"magnetic":[27,85,156],"moment.":[28],"Its":[29],"structure":[30],"features":[31],"that":[32,119],"upper":[34],"lower":[36],"hemisphere,":[37],"which":[38],"can":[39,53,144],"relatively":[40],"rotate":[41],"freely,":[42],"constitutes":[43],"coaxial":[45],"body,":[46],"thus":[47,99],"realize":[54],"panoramic":[55],"observation":[56],"during":[57],"suspended":[59],"posture":[60],"adjustment":[61],"passive":[63],"mode":[64],"rolling":[66],"locomotion":[67],"active":[69],"mode.":[70],"The":[71,115],"dynamic":[72,104],"equation":[73],"attitude":[75],"control":[76],"is":[77,112],"established":[78],"based":[79],"on":[80,102],"analysis":[82],"of":[83,93,109,123,125,137,153,184],"moment,":[86],"damping":[87],"moment":[88,91],"gravity":[90,110,124],"models":[92],"robot,":[98],"influence":[101],"characteristics":[105],"center":[108,122],"offset":[111],"studied":[113],"particularly.":[114],"research":[116,174],"results":[117],"show":[118],"when":[120],"moves":[131],"along":[132],"its":[133],"axis,":[134],"orientation":[136],"axis":[143,164],"still":[145],"be":[146],"controlled":[147],"changing":[149],"normal":[151],"vector":[152],"rotating":[155],"field,":[157],"will":[165],"make":[166],"regular":[167],"precession":[168],"stable":[171],"state.":[172],"has":[175],"laid":[176],"solid":[178],"foundation":[179],"reliable":[182],"robot.":[189]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}