{"id":"https://openalex.org/W1528529477","doi":"https://doi.org/10.1109/icra.2015.7139768","title":"Paramagnetic microparticles sliding on a surface: Characterization and closed-loop motion control","display_name":"Paramagnetic microparticles sliding on a surface: Characterization and closed-loop motion control","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1528529477","doi":"https://doi.org/10.1109/icra.2015.7139768","mag":"1528529477"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139768","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5060956482","display_name":"Kareem Youakim","orcid":null},"institutions":[{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":true,"raw_author_name":"Kareem Youakim","raw_affiliation_strings":["Assert equal contribution","German University in Cairo, New Cairo City, Egypt"],"affiliations":[{"raw_affiliation_string":"Assert equal contribution","institution_ids":[]},{"raw_affiliation_string":"German University in Cairo, New Cairo City, Egypt","institution_ids":["https://openalex.org/I96823368"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020435446","display_name":"Mohamed Ehab","orcid":null},"institutions":[{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Mohamed Ehab","raw_affiliation_strings":["Assert equal contribution","German University in Cairo, New Cairo City, Egypt"],"affiliations":[{"raw_affiliation_string":"Assert equal contribution","institution_ids":[]},{"raw_affiliation_string":"German University in Cairo, New Cairo City, Egypt","institution_ids":["https://openalex.org/I96823368"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069602422","display_name":"Omar Hatem","orcid":null},"institutions":[{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Omar Hatem","raw_affiliation_strings":["Assert equal contribution","German University in Cairo, New Cairo City, Egypt"],"affiliations":[{"raw_affiliation_string":"Assert equal contribution","institution_ids":[]},{"raw_affiliation_string":"German University in Cairo, New Cairo City, Egypt","institution_ids":["https://openalex.org/I96823368"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050730423","display_name":"Sarthak Misra","orcid":"https://orcid.org/0000-0003-4961-0144"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]},{"id":"https://openalex.org/I1334415907","display_name":"University Medical Center Groningen","ror":"https://ror.org/03cv38k47","country_code":"NL","type":"funder","lineage":["https://openalex.org/I1334415907"]},{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Sarthak Misra","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Enschede, AE, The Netherlands","Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Enschede, AE, The Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, The Netherlands","institution_ids":["https://openalex.org/I1334415907","https://openalex.org/I169381384"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014013189","display_name":"Islam S. M. Khalil","orcid":"https://orcid.org/0000-0003-0617-088X"},"institutions":[{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Islam S. M. Khalil","raw_affiliation_strings":["German University in Cairo, New Cairo City, Egypt"],"affiliations":[{"raw_affiliation_string":"German University in Cairo, New Cairo City, Egypt","institution_ids":["https://openalex.org/I96823368"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5060956482"],"corresponding_institution_ids":["https://openalex.org/I96823368"],"apc_list":null,"apc_paid":null,"fwci":1.7889,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.83955944,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4068","last_page":"4073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"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":1.0,"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/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9972000122070312,"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/T13052","display_name":"Molecular Communication and Nanonetworks","score":0.9947999715805054,"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/magnetic-field","display_name":"Magnetic field","score":0.7495449185371399},{"id":"https://openalex.org/keywords/magnetic-nanoparticles","display_name":"Magnetic nanoparticles","score":0.6656200885772705},{"id":"https://openalex.org/keywords/paramagnetism","display_name":"Paramagnetism","score":0.6365554332733154},{"id":"https://openalex.org/keywords/magnetic-separation","display_name":"Magnetic separation","score":0.49933552742004395},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4831830561161041},{"id":"https://openalex.org/keywords/cluster","display_name":"Cluster (spacecraft)","score":0.47436603903770447},{"id":"https://openalex.org/keywords/microparticle","display_name":"Microparticle","score":0.4120545983314514},{"id":"https://openalex.org/keywords/magnetostatics","display_name":"Magnetostatics","score":0.4103226661682129},{"id":"https://openalex.org/keywords/nuclear-magnetic-resonance","display_name":"Nuclear magnetic resonance","score":0.36321908235549927},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.362528532743454},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.32517725229263306},{"id":"https://openalex.org/keywords/nanoparticle","display_name":"Nanoparticle","score":0.2955971658229828},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.225719153881073},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.2103576362133026},{"id":"https://openalex.org/keywords/condensed-matter-physics","display_name":"Condensed matter physics","score":0.1924404501914978}],"concepts":[{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.7495449185371399},{"id":"https://openalex.org/C87023908","wikidata":"https://www.wikidata.org/wiki/Q3870166","display_name":"Magnetic nanoparticles","level":3,"score":0.6656200885772705},{"id":"https://openalex.org/C124712363","wikidata":"https://www.wikidata.org/wiki/Q188479","display_name":"Paramagnetism","level":2,"score":0.6365554332733154},{"id":"https://openalex.org/C2779833257","wikidata":"https://www.wikidata.org/wiki/Q2663154","display_name":"Magnetic separation","level":2,"score":0.49933552742004395},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4831830561161041},{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.47436603903770447},{"id":"https://openalex.org/C2777521759","wikidata":"https://www.wikidata.org/wiki/Q61186","display_name":"Microparticle","level":2,"score":0.4120545983314514},{"id":"https://openalex.org/C95390329","wikidata":"https://www.wikidata.org/wiki/Q665093","display_name":"Magnetostatics","level":3,"score":0.4103226661682129},{"id":"https://openalex.org/C46141821","wikidata":"https://www.wikidata.org/wiki/Q209402","display_name":"Nuclear magnetic resonance","level":1,"score":0.36321908235549927},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.362528532743454},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.32517725229263306},{"id":"https://openalex.org/C155672457","wikidata":"https://www.wikidata.org/wiki/Q61231","display_name":"Nanoparticle","level":2,"score":0.2955971658229828},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.225719153881073},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.2103576362133026},{"id":"https://openalex.org/C26873012","wikidata":"https://www.wikidata.org/wiki/Q214781","display_name":"Condensed matter physics","level":1,"score":0.1924404501914978},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.0},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139768","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/506e76f5-4f9d-4242-bab1-87276962c204","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/506e76f5-4f9d-4242-bab1-87276962c204","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Youakim, K, Ehab, M, Hatem, O & Misra, S 2015, Paramagnetic microparticles sliding on a surface: characterization and closed-loop motion control. in Proceedings of the IEEE International Conference on Robotics Automation (ICRA). June, vol. 2015-June, IEEE, Seattle, USA, pp. 4068-4073, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, Washington, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139768","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W572156067","https://openalex.org/W1979723863","https://openalex.org/W2009205177","https://openalex.org/W2011090397","https://openalex.org/W2019957817","https://openalex.org/W2025562104","https://openalex.org/W2049220874","https://openalex.org/W2054680198","https://openalex.org/W2094904022","https://openalex.org/W2116321295","https://openalex.org/W2138641132","https://openalex.org/W2140733090","https://openalex.org/W2141394615","https://openalex.org/W2161381314","https://openalex.org/W2167047276","https://openalex.org/W2168046319","https://openalex.org/W6616435856"],"related_works":["https://openalex.org/W2567559720","https://openalex.org/W2546138310","https://openalex.org/W2365786454","https://openalex.org/W2064496152","https://openalex.org/W2382428761","https://openalex.org/W3090978144","https://openalex.org/W2060283760","https://openalex.org/W1594298200","https://openalex.org/W2511010715","https://openalex.org/W2593135637"],"abstract_inverted_index":{"In":[0,147],"targeted":[1],"therapy,":[2],"clusters":[3,37,91,157],"of":[4,21,27,36,38,49,90,92,103,112,121,134,144,155,162,178,191],"drug":[5],"carriers":[6],"(nanoparticles":[7],"and":[8,24,69,74,80,125,137],"microparticles)":[9,184],"could":[10],"be":[11],"in":[12,109,188],"contact":[13],"with":[14,99,158],"a":[15,44,63,83,100,113,176],"surface":[16,45],"such":[17],"as":[18],"the":[19,25,28,33,47,67,77,87,110,156,169,189],"lumen":[20],"blood":[22],"vessels":[23],"interior":[26],"gastrointestinal":[29],"tract.":[30],"We":[31,85],"study":[32],"motion":[34,153],"characteristics":[35],"microparticles":[39,68,93,129,179],"when":[40],"they":[41],"slide":[42,81],"on":[43,66,82],"under":[46],"influence":[48],"weak":[50],"oscillating":[51,59,96,141,192],"magnetic":[52,60,64,97,115,142,170,193],"fields":[53,61,98,143,194],"(less":[54],"than":[55],"11":[56],"mT).":[57],"The":[58],"exert":[62],"torque":[65],"allow":[70],"them":[71],"to":[72,106,123,127,174,182,198],"oscillate,":[73],"hence":[75],"overcome":[76],"static":[78],"friction":[79],"surface.":[84],"characterize":[86],"frequency":[88,101],"response":[89],"by":[94,186],"applying":[95],"range":[102],"0":[104],"Hz":[105,197],"55":[107],"Hz,":[108],"presence":[111,190],"constant":[114],"field":[116,171],"gradient":[117,172],"(0.9":[118],"T/m).":[119],"Clusters":[120],"3":[122,181],"4":[124,183],"5":[126,196],"9":[128],"achieve":[130],"maximum":[131,159],"sliding":[132],"speeds":[133],"1100":[135],"\u00b5m/s":[136],"1150":[138],"\u00b5m/s,":[139],"at":[140],"30":[145],"Hz.":[146,200],"addition,":[148],"we":[149,166],"experimentally":[150],"demonstrate":[151],"closed-loop":[152],"control":[154],"position":[160],"error":[161],"20":[163],"\u00b5m.":[164],"Furthermore,":[165],"show":[167],"that":[168],"required":[173],"drive":[175],"cluster":[177],"(with":[180],"decreases":[185],"75%":[187],"from":[195],"50":[199]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}