{"id":"https://openalex.org/W2168297904","doi":"https://doi.org/10.1109/icra.2011.5980107","title":"Real-time feedback control using artificial magnetotaxis with rapidly-exploring random tree (RRT) for Tetrahymena pyriformis as a microbiorobot","display_name":"Real-time feedback control using artificial magnetotaxis with rapidly-exploring random tree (RRT) for Tetrahymena pyriformis as a microbiorobot","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2168297904","doi":"https://doi.org/10.1109/icra.2011.5980107","mag":"2168297904"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980107","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"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/A5024751416","display_name":"Dal Hyung Kim","orcid":"https://orcid.org/0000-0002-4719-4450"},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dal Hyung Kim","raw_affiliation_strings":["Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078313178","display_name":"Sean Brigandi","orcid":null},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sean Brigandi","raw_affiliation_strings":["Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Anak Agung Julius","orcid":null},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anak Agung Julius","raw_affiliation_strings":["Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]}]},{"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/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Min Jun Kim","raw_affiliation_strings":["Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.8044,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.97634303,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"242","issue":null,"first_page":"3183","last_page":"3188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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/T11879","display_name":"Protist diversity and phylogeny","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"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"}},{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9843000173568726,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"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/tetrahymena-pyriformis","display_name":"Tetrahymena pyriformis","score":0.9580175876617432},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5879061222076416},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4988553524017334},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.4628066420555115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4626382887363434},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4414632320404053},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3475410044193268},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2419872283935547},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.21047359704971313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1997552216053009},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.15725156664848328},{"id":"https://openalex.org/keywords/tetrahymena","display_name":"Tetrahymena","score":0.08884373307228088}],"concepts":[{"id":"https://openalex.org/C2991723024","wikidata":"https://www.wikidata.org/wiki/Q3519169","display_name":"Tetrahymena pyriformis","level":3,"score":0.9580175876617432},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5879061222076416},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4988553524017334},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.4628066420555115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4626382887363434},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4414632320404053},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3475410044193268},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2419872283935547},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.21047359704971313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1997552216053009},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.15725156664848328},{"id":"https://openalex.org/C2777166614","wikidata":"https://www.wikidata.org/wiki/Q1198419","display_name":"Tetrahymena","level":2,"score":0.08884373307228088},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980107","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.41999998688697815}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337391","display_name":"Division of Civil, Mechanical and Manufacturing Innovation","ror":"https://ror.org/028yd4c30"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1965324089","https://openalex.org/W1971998222","https://openalex.org/W1990416424","https://openalex.org/W1996718296","https://openalex.org/W1999578039","https://openalex.org/W2000359213","https://openalex.org/W2017445132","https://openalex.org/W2018108785","https://openalex.org/W2036361448","https://openalex.org/W2040051815","https://openalex.org/W2048283234","https://openalex.org/W2053275683","https://openalex.org/W2059965128","https://openalex.org/W2094059581","https://openalex.org/W2107770588","https://openalex.org/W2113761611","https://openalex.org/W2119425554","https://openalex.org/W2139719042","https://openalex.org/W2147132328","https://openalex.org/W2170043059","https://openalex.org/W2180774946","https://openalex.org/W2419327084","https://openalex.org/W2611243847","https://openalex.org/W4285719527","https://openalex.org/W4301018393","https://openalex.org/W6680705269"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2863424594","https://openalex.org/W2372633663","https://openalex.org/W4388720133","https://openalex.org/W2564325388","https://openalex.org/W2108906364","https://openalex.org/W2371294653"],"abstract_inverted_index":{"In":[0,140],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,18,27,72,79,93,104,120,160],"control":[6,81,95,127,145],"strategy":[7],"using":[8,29,58],"real-time":[9,143],"feedback":[10,94,126,144],"combined":[11],"with":[12],"feasible":[13,84],"path":[14,85],"planning":[15],"to":[16,99,103,131],"manipulate":[17],"type":[19],"of":[20,42,50,66,112,119,146,155],"microorganism,":[21],"Tetrahymena":[22],"pyriformis":[23,35,70,114,148,158],"(T.":[24],"pyriformis),":[25],"as":[26,159],"micro-bio-robot":[28,161],"artificial":[30],"magnetotaxis.":[31],"Artificially":[32],"magnetotactic":[33,68],"T.":[34,69,113,147,157],"cells":[36,55],"were":[37],"created":[38],"by":[39],"the":[40,48,51,54,101,110,123,129,141,153],"internalization":[41],"iron":[43],"oxide":[44],"nano":[45],"particles.":[46],"Following":[47],"magnetization":[49],"internalized":[52],"particles,":[53],"become":[56],"controllable":[57],"an":[59],"external":[60],"time-varying":[61],"magnetic":[62,73],"field.":[63],"The":[64],"behavior":[65],"artificially":[67],"under":[71],"field":[74],"has":[75],"been":[76],"investigated":[77],"in":[78,134,149],"manual":[80],"experiment.":[82],"A":[83],"planner":[86],"called":[87],"rapidly-exploring":[88],"random":[89],"tree":[90],"(RRT)":[91],"and":[92,107,125],"scheme":[96],"are":[97],"implemented":[98],"guide":[100],"cell":[102,130],"desired":[105],"position":[106],"orientation.":[108],"Since":[109],"motion":[111],"is":[115],"nonlinear":[116],"like":[117],"that":[118],"car,":[121],"combining":[122],"RRT":[124],"allows":[128],"be":[132],"controlled":[133],"3-dimensional":[135,150],"(x,":[136],"y,":[137],"\u00b8)":[138],"space.":[139],"results,":[142],"space":[151],"demonstrated":[152],"potential":[154],"utilizing":[156],"for":[162],"microscale":[163],"tasks.":[164]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}