{"id":"https://openalex.org/W3091804500","doi":"https://doi.org/10.1109/iros45743.2020.9341394","title":"Control of Magnetically-Driven Screws in a Viscoelastic Medium","display_name":"Control of Magnetically-Driven Screws in a Viscoelastic Medium","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3091804500","doi":"https://doi.org/10.1109/iros45743.2020.9341394","mag":"3091804500"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341394","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.rug.nl/en/publications/76b60dcc-6a12-46a2-a229-5bdb62c00b4d","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038110244","display_name":"Zhengya Zhang","orcid":"https://orcid.org/0000-0001-5963-9018"},"institutions":[{"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"]},{"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"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Zhengya Zhang","raw_affiliation_strings":["Surgical Robotics Laboratory, University of Groningen and University Medical Center Groningen, Groningen, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, University of Groningen and University Medical Center Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I1334415907","https://openalex.org/I169381384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037158234","display_name":"Anke Klingner","orcid":"https://orcid.org/0000-0002-2426-433X"},"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":"Anke Klingner","raw_affiliation_strings":["The German University in Cairo, Cairo, Egypt"],"affiliations":[{"raw_affiliation_string":"The German University in Cairo, Cairo, 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/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/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/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":["Surgical Robotics Laboratory, University of Groningen and University Medical Center Groningen, Groningen, The Netherlands","Surgical Robotics Laboratory, University of Twente, Enschede, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, University of Groningen and University Medical Center Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I1334415907","https://openalex.org/I169381384"]},{"raw_affiliation_string":"Surgical Robotics Laboratory, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"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/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Islam S. M. Khalil","raw_affiliation_strings":["Surgical Robotics Laboratory, University of Twente, Enschede, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5038110244"],"corresponding_institution_ids":["https://openalex.org/I1334415907","https://openalex.org/I169381384"],"apc_list":null,"apc_paid":null,"fwci":0.461,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.63116868,"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":"2840","last_page":"2846"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9912999868392944,"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/T11406","display_name":"Cerebrospinal fluid and hydrocephalus","score":0.9850999712944031,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.6649632453918457},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6620451211929321},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6058744192123413},{"id":"https://openalex.org/keywords/viscoelasticity","display_name":"Viscoelasticity","score":0.5667401552200317},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.5541646480560303},{"id":"https://openalex.org/keywords/magnetic-separation","display_name":"Magnetic separation","score":0.44694116711616516},{"id":"https://openalex.org/keywords/biomagnetism","display_name":"Biomagnetism","score":0.44281601905822754},{"id":"https://openalex.org/keywords/magnetic-nanoparticles","display_name":"Magnetic nanoparticles","score":0.4255744516849518},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41488173604011536},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.41344499588012695},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.4021190106868744},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.39674609899520874},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.3646719455718994},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.34117981791496277},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.32789313793182373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3111265301704407},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2031133770942688},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.19241705536842346},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14016848802566528},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.13691529631614685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12262791395187378},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11939659714698792},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.11470401287078857},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11309465765953064},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.08226990699768066},{"id":"https://openalex.org/keywords/nanoparticle","display_name":"Nanoparticle","score":0.07995405793190002}],"concepts":[{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.6649632453918457},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6620451211929321},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6058744192123413},{"id":"https://openalex.org/C186541917","wikidata":"https://www.wikidata.org/wiki/Q910483","display_name":"Viscoelasticity","level":2,"score":0.5667401552200317},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.5541646480560303},{"id":"https://openalex.org/C2779833257","wikidata":"https://www.wikidata.org/wiki/Q2663154","display_name":"Magnetic separation","level":2,"score":0.44694116711616516},{"id":"https://openalex.org/C78902741","wikidata":"https://www.wikidata.org/wiki/Q4915071","display_name":"Biomagnetism","level":3,"score":0.44281601905822754},{"id":"https://openalex.org/C87023908","wikidata":"https://www.wikidata.org/wiki/Q3870166","display_name":"Magnetic nanoparticles","level":3,"score":0.4255744516849518},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41488173604011536},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.41344499588012695},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.4021190106868744},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.39674609899520874},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.3646719455718994},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.34117981791496277},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.32789313793182373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3111265301704407},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2031133770942688},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.19241705536842346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14016848802566528},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.13691529631614685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12262791395187378},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11939659714698792},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.11470401287078857},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11309465765953064},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.08226990699768066},{"id":"https://openalex.org/C155672457","wikidata":"https://www.wikidata.org/wiki/Q61231","display_name":"Nanoparticle","level":2,"score":0.07995405793190002},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"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":3,"locations":[{"id":"doi:10.1109/iros45743.2020.9341394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341394","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.rug.nl:openaire/76b60dcc-6a12-46a2-a229-5bdb62c00b4d","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/76b60dcc-6a12-46a2-a229-5bdb62c00b4d","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Zhang, Z, Klingner, A, Misra, S & Khalil, I S M 2020, Control of Magnetically-Driven Screws in a Viscoelastic Medium. in Control of Magnetically-Driven Screws in a Viscoelastic Medium. pp. 2840-2846. https://doi.org/10.1109/IROS45743.2020.9341394","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:ris.utwente.nl:openaire/894752d0-72cb-440c-ba1b-5de434e38969","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/894752d0-72cb-440c-ba1b-5de434e38969","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Zhang, Z, Klinger, A, Misra, S & S. M. Khalil, I 2021, Control of magnetically-driven screws in a viscoelastic medium. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9341394","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.rug.nl:openaire/76b60dcc-6a12-46a2-a229-5bdb62c00b4d","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/76b60dcc-6a12-46a2-a229-5bdb62c00b4d","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Zhang, Z, Klingner, A, Misra, S & Khalil, I S M 2020, Control of Magnetically-Driven Screws in a Viscoelastic Medium. in Control of Magnetically-Driven Screws in a Viscoelastic Medium. pp. 2840-2846. https://doi.org/10.1109/IROS45743.2020.9341394","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1981586643","https://openalex.org/W1992269779","https://openalex.org/W1994710268","https://openalex.org/W2007223013","https://openalex.org/W2010789980","https://openalex.org/W2018108785","https://openalex.org/W2038432010","https://openalex.org/W2042526957","https://openalex.org/W2048111146","https://openalex.org/W2054680198","https://openalex.org/W2073780007","https://openalex.org/W2079552101","https://openalex.org/W2107159924","https://openalex.org/W2120009988","https://openalex.org/W2168046319","https://openalex.org/W2214574468","https://openalex.org/W2254316824","https://openalex.org/W2477362791","https://openalex.org/W2735010709","https://openalex.org/W2898681393","https://openalex.org/W2946234510","https://openalex.org/W2962918775","https://openalex.org/W3149800622"],"related_works":["https://openalex.org/W2567559720","https://openalex.org/W2365786454","https://openalex.org/W2382428761","https://openalex.org/W3090978144","https://openalex.org/W2060283760","https://openalex.org/W2016975845","https://openalex.org/W1594298200","https://openalex.org/W2511010715","https://openalex.org/W2593135637","https://openalex.org/W2103982267"],"abstract_inverted_index":{"Magnetically-driven":[0],"screws":[1,28],"operating":[2],"in":[3,29,60,124],"soft-tissue":[4],"environments":[5],"could":[6],"be":[7],"used":[8],"to":[9,85,113],"deploy":[10],"localized":[11],"therapy":[12],"or":[13],"achieve":[14],"minimally":[15],"invasive":[16],"interventions.":[17],"In":[18],"this":[19],"work,":[20],"we":[21],"characterize":[22],"the":[23,54,58,64,77,93,98,102,106,110,114,117,133],"closed-loop":[24,45,129],"behavior":[25],"of":[26,53,57,68,92,101,109,116,132,138,149],"magnetic":[27,65,69],"an":[30,42,50],"agar":[31],"gel":[32],"tissue":[33],"phantom":[34],"using":[35],"a":[36],"permanent":[37],"magnet-based":[38],"robotic":[39],"system":[40],"with":[41,145],"open-configuration.":[43],"Our":[44,95],"control":[46,123,131],"strategy":[47],"capitalizes":[48],"on":[49,76],"analytical":[51,72,103,118],"calculation":[52],"swimming":[55],"speed":[56],"screw":[59,111,134],"viscoelastic":[61],"fluids":[62],"and":[63,80,127,136,141],"point-dipole":[66],"approximation":[67],"fields.":[70],"The":[71],"solution":[73],"is":[74],"based":[75],"Stokes/Oldroyd-B":[78],"equations":[79],"its":[81],"predictions":[82],"are":[83],"compared":[84],"experimental":[86],"results":[87],"at":[88],"different":[89],"actuation":[90],"frequencies":[91],"screw.":[94],"measurements":[96],"matches":[97],"theoretical":[99],"prediction":[100],"model":[104],"before":[105],"step-out":[107],"frequency":[108],"owing":[112],"linearity":[115],"model.":[119],"We":[120],"demonstrate":[121],"open-loop":[122],"two-dimensional":[125],"space,":[126],"point-to-point":[128],"motion":[130],"(length":[135],"diameter":[137],"6":[139],"mm":[140],"2":[142],"mm,":[143],"respectively)":[144],"maximum":[146],"positioning":[147],"error":[148],"1.8":[150],"mm.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}