{"id":"https://openalex.org/W2152661282","doi":"https://doi.org/10.1109/coase.2010.5584003","title":"Optimal motion control of magnetically levitated microrobot","display_name":"Optimal motion control of magnetically levitated microrobot","publication_year":2010,"publication_date":"2010-08-01","ids":{"openalex":"https://openalex.org/W2152661282","doi":"https://doi.org/10.1109/coase.2010.5584003","mag":"2152661282"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2010.5584003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2010.5584003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Automation Science and Engineering","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/A5018167360","display_name":"Moein Mehrtash","orcid":"https://orcid.org/0000-0002-1510-6954"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"M Mehrtash","raw_affiliation_strings":["Mechanical and Mechatronics Engineering Department, University of Waterloo, Waterloo, Canada"],"affiliations":[{"raw_affiliation_string":"Mechanical and Mechatronics Engineering Department, University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024831413","display_name":"Mir Behrad Khamesee","orcid":"https://orcid.org/0000-0002-2214-182X"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M B Khamesee","raw_affiliation_strings":["Mechanical and Mechatronics Engineering Department, University of Waterloo, Waterloo, ONT, Canada"],"affiliations":[{"raw_affiliation_string":"Mechanical and Mechatronics Engineering Department, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5018167360"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":0.5657,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.69355476,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9983000159263611,"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":0.9983000159263611,"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/T11602","display_name":"Magnetic Bearings and Levitation Dynamics","score":0.9941999912261963,"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/T12976","display_name":"Magnetic and Electromagnetic Effects","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/1314","display_name":"Physiology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/levitation","display_name":"Levitation","score":0.6953610181808472},{"id":"https://openalex.org/keywords/electromagnet","display_name":"Electromagnet","score":0.6649575233459473},{"id":"https://openalex.org/keywords/magnetic-levitation","display_name":"Magnetic levitation","score":0.6470831036567688},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.6401917934417725},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5551723837852478},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5488810539245605},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.5350191593170166},{"id":"https://openalex.org/keywords/yoke","display_name":"Yoke (aeronautics)","score":0.46844130754470825},{"id":"https://openalex.org/keywords/flywheel","display_name":"Flywheel","score":0.45016345381736755},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4308862090110779},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.42258328199386597},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.4080982208251953},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3928983509540558},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3777260482311249},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3426145315170288},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32752734422683716},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21503955125808716},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1603168249130249},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15419816970825195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14623209834098816},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1196448802947998}],"concepts":[{"id":"https://openalex.org/C27838914","wikidata":"https://www.wikidata.org/wiki/Q740997","display_name":"Levitation","level":3,"score":0.6953610181808472},{"id":"https://openalex.org/C106997767","wikidata":"https://www.wikidata.org/wiki/Q178032","display_name":"Electromagnet","level":3,"score":0.6649575233459473},{"id":"https://openalex.org/C206736587","wikidata":"https://www.wikidata.org/wiki/Q1061251","display_name":"Magnetic levitation","level":3,"score":0.6470831036567688},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.6401917934417725},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5551723837852478},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5488810539245605},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.5350191593170166},{"id":"https://openalex.org/C14536661","wikidata":"https://www.wikidata.org/wiki/Q1759012","display_name":"Yoke (aeronautics)","level":4,"score":0.46844130754470825},{"id":"https://openalex.org/C31107917","wikidata":"https://www.wikidata.org/wiki/Q183576","display_name":"Flywheel","level":2,"score":0.45016345381736755},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4308862090110779},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.42258328199386597},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.4080982208251953},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3928983509540558},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3777260482311249},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3426145315170288},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32752734422683716},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21503955125808716},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1603168249130249},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15419816970825195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14623209834098816},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1196448802947998},{"id":"https://openalex.org/C107956385","wikidata":"https://www.wikidata.org/wiki/Q626658","display_name":"Fly-by-wire","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2010.5584003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2010.5584003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Automation Science and Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1604556474","https://openalex.org/W1966522189","https://openalex.org/W1967466231","https://openalex.org/W1972363405","https://openalex.org/W2094463167","https://openalex.org/W2100157059","https://openalex.org/W2105149720","https://openalex.org/W2119841138","https://openalex.org/W2125994960","https://openalex.org/W2132436964","https://openalex.org/W2142640468","https://openalex.org/W2146769522","https://openalex.org/W2150762400","https://openalex.org/W2161388523","https://openalex.org/W2163252428","https://openalex.org/W2317980485","https://openalex.org/W2539693000","https://openalex.org/W2798534591","https://openalex.org/W6643615870"],"related_works":["https://openalex.org/W2138863771","https://openalex.org/W2041773681","https://openalex.org/W3110344985","https://openalex.org/W2060464503","https://openalex.org/W2147698280","https://openalex.org/W4232160641","https://openalex.org/W2153005096","https://openalex.org/W2519050941","https://openalex.org/W2065189167","https://openalex.org/W4309456305"],"abstract_inverted_index":{"This":[0,79],"paper":[1],"deals":[2],"with":[3,11,67,143],"the":[4,22,27,44,60,74,82,93,103,115,121,131],"three-dimensional":[5],"(3-D)":[6],"manipulation":[7],"of":[8,37,59,77,84,102,127,134],"a":[9,39,48],"microrobot":[10,28,116],"levitation":[12,122],"technology.":[13],"A":[14],"magnetic":[15,23,45,63],"drive":[16,34],"unit":[17,35],"is":[18,107],"developed":[19],"to":[20,72],"generate":[21],"field":[24,64],"for":[25,42],"propelling":[26],"in":[29,120],"an":[30],"enclosed":[31],"environment.":[32],"The":[33,97],"consists":[36],"electromagnets,":[38],"disc":[40],"pole-piece":[41],"connecting":[43],"poles,":[46],"and":[47,110,130],"soft":[49],"iron":[50],"yoke.":[51],"To":[52],"handle":[53],"3-D":[54,98],"high":[55],"precision":[56],"motion":[57,99],"control":[58,89,100,105],"microrobot,":[61],"experimental":[62],"measurements":[65],"coupled":[66],"numerical":[68],"analysis":[69],"were":[70],"done":[71],"identify":[73],"dynamic":[75],"model":[76],"levitation.":[78],"approach":[80],"leads":[81],"design":[83],"linear":[85],"quadratic":[86],"integral":[87],"(LQI)":[88],"system,":[90],"based":[91],"on":[92],"derived":[94],"state-space":[95],"model.":[96],"capability":[101],"LQI":[104],"method":[106],"verified":[108],"experimentally,":[109],"it":[111],"was":[112],"demonstrated":[113],"that":[114],"can":[117],"be":[118],"operated":[119],"system":[123],"workspace,":[124],"vertical":[125],"range":[126,133],"30":[128],"mm":[129,138],"horizontal":[132],"20":[135,137],"\u00d7":[136],"<sup":[139],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[140],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[141],",":[142],"10":[144],"\u03bcm":[145],"resolution.":[146]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}