{"id":"https://openalex.org/W3207058687","doi":"https://doi.org/10.1109/icra48506.2021.9561854","title":"Dynamic tracking for microrobot with active magnetic sensor array","display_name":"Dynamic tracking for microrobot with active magnetic sensor array","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207058687","doi":"https://doi.org/10.1109/icra48506.2021.9561854","mag":"3207058687"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5100340856","display_name":"Min Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Min Wang","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Hong Kong SAR,China","Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060159484","display_name":"Kwan Yi Leung","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kwan Yi Leung","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Hong Kong SAR,China","Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100448655","display_name":"Rui Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Rui Liu","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Hong Kong SAR,China","Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100731554","display_name":"Shuang Song","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Song","raw_affiliation_strings":["Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,China,518055","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073968803","display_name":"Yixuan Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yixuan Yuan","raw_affiliation_strings":["City University of Hong Kong,Department of Electrical Engineering,Hong Kong SAR,China","Department of Electrical Engineering, City University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Electrical Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Electrical Engineering, City University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100606496","display_name":"Jianqin Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqin Yin","raw_affiliation_strings":["Beijing University of Posts and Telecommunication,School of Automation,Beijing,China","School of Automation, Beijing University of Posts and Telecommunication, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunication,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunication, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electrical and Electronic Engineering,Shenzhen,China,518055","Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electrical and Electronic Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100361885","display_name":"Jun Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jun Liu","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Hong Kong SAR,China","Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100340856"],"corresponding_institution_ids":["https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":0.929,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.74440895,"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":"7288","last_page":"7294"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.996399998664856,"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":0.996399998664856,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10868","display_name":"Soft Robotics and Applications","score":0.991599977016449,"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/tracking","display_name":"Tracking (education)","score":0.6710208654403687},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5616459250450134},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.5204498767852783},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4703928232192993},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46840402483940125},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4661696255207062},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43003538250923157},{"id":"https://openalex.org/keywords/position-sensor","display_name":"Position sensor","score":0.42469531297683716},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.41580459475517273},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3908570110797882},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31239503622055054},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.28242090344429016},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.16315943002700806},{"id":"https://openalex.org/keywords/angular-displacement","display_name":"Angular displacement","score":0.14707660675048828},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13969498872756958},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08920517563819885}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6710208654403687},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5616459250450134},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.5204498767852783},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4703928232192993},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46840402483940125},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4661696255207062},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43003538250923157},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.42469531297683716},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.41580459475517273},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3908570110797882},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31239503622055054},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.28242090344429016},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.16315943002700806},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.14707660675048828},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13969498872756958},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08920517563819885},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9561854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:hub.hku.hk:10722/349696","is_oa":false,"landing_page_url":"https://hub.hku.hk/handle/10722/349696","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1981650989","https://openalex.org/W1987096132","https://openalex.org/W2036479922","https://openalex.org/W2039191396","https://openalex.org/W2059605601","https://openalex.org/W2068627060","https://openalex.org/W2071647389","https://openalex.org/W2092724897","https://openalex.org/W2161425799","https://openalex.org/W2405829620","https://openalex.org/W2574771972","https://openalex.org/W2605699838","https://openalex.org/W2622341759","https://openalex.org/W2735345342","https://openalex.org/W2749346792","https://openalex.org/W2771494437","https://openalex.org/W2775066688","https://openalex.org/W2788327212","https://openalex.org/W2912654229","https://openalex.org/W2943449623","https://openalex.org/W2944033464","https://openalex.org/W2981494324","https://openalex.org/W2999176314"],"related_works":["https://openalex.org/W2381426581","https://openalex.org/W2024370140","https://openalex.org/W2159705349","https://openalex.org/W2084086966","https://openalex.org/W2105392727","https://openalex.org/W2081826635","https://openalex.org/W3162616921","https://openalex.org/W2348849128","https://openalex.org/W603846121","https://openalex.org/W2907982933"],"abstract_inverted_index":{"Accurate":[0],"position":[1,72,195],"feedback":[2,73,196],"in":[3,86,148,199],"a":[4,33,81,87,93,100,120,157,182],"wide":[5],"range":[6,176],"is":[7,32,114,137],"critical":[8],"for":[9],"medical":[10,200],"microrobotics":[11],"and":[12,19,49,117,180],"robot-assisted":[13],"examinations,":[14],"such":[15],"as":[16],"colonoscopy,":[17],"bronchoscopy":[18],"capsule":[20],"endoscopy":[21],"examination.":[22],"Among":[23],"the":[24,38,53,57,62,66,69,108,112,124,128,134,146,149,163,171,175,194],"many":[25],"modalities":[26],"of":[27,41,44,56,65,71,111,177,185,197],"positioning":[28],"feedback,":[29],"magnetic":[30,58,178],"tracking":[31,84,96,109,151,179,186],"preferable":[34],"method":[35,173],"due":[36],"to":[37,79,144,161,192],"unique":[39],"advantages":[40],"free":[42,46],"line":[43],"sight,":[45],"energy":[47],"storage":[48],"untethered":[50],"connection.":[51],"However,":[52],"field":[54],"strength":[55],"source":[59],"decreases":[60],"with":[61],"third":[63],"power":[64],"distance,":[67],"limiting":[68],"effectiveness":[70],"at":[74],"long":[75],"distances.":[76],"In":[77,104],"order":[78],"maintain":[80],"consistently":[82],"high":[83],"accuracy":[85,110],"broad":[88],"area,":[89],"this":[90,105,131],"paper":[91],"presents":[92],"new":[94,106],"dynamic":[95],"solution":[97],"by":[98,139],"applying":[99],"movable":[101],"sensor":[102,135],"array.":[103],"solution,":[107],"magnet":[113,129],"first":[115],"determined":[116],"optimized":[118,132],"within":[119],"short":[121],"range.":[122,152],"When":[123],"target":[125,147],"microrobot":[126],"carrying":[127],"exceeds":[130],"range,":[133],"array":[136],"relocated":[138],"an":[140],"external":[141],"robotic":[142],"arm":[143],"keep":[145],"effective":[150],"Moreover,":[153],"we":[154],"also":[155],"propose":[156],"multi-point":[158],"locating":[159],"algorithm":[160],"minimize":[162],"varying":[164],"background":[165],"noise.":[166],"Experimental":[167],"results":[168],"show":[169],"that":[170],"proposed":[172],"increases":[174],"achieves":[181],"satisfactory":[183],"level":[184],"accuracy,":[187],"which":[188],"demonstrates":[189],"significant":[190],"potentials":[191],"improve":[193],"microrobots":[198],"applications.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-01-28T23:14:49.684275","created_date":"2025-10-10T00:00:00"}