{"id":"https://openalex.org/W4200304696","doi":"https://doi.org/10.1109/iros51168.2021.9635953","title":"Simultaneous Actuation and Localization of Magnetic Robots Using Mobile Coils and Eye-In-Hand Hall-Effect Sensors","display_name":"Simultaneous Actuation and Localization of Magnetic Robots Using Mobile Coils and Eye-In-Hand Hall-Effect Sensors","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200304696","doi":"https://doi.org/10.1109/iros51168.2021.9635953"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635953","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5069385543","display_name":"Moqiu Zhang","orcid":"https://orcid.org/0000-0001-6542-9877"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Moqiu Zhang","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001610911","display_name":"Lidong Yang","orcid":"https://orcid.org/0000-0002-5757-7885"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lidong Yang","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393886","display_name":"Chong Zhang","orcid":"https://orcid.org/0000-0001-6682-9688"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chong Zhang","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003256733","display_name":"Zhengxin Yang","orcid":"https://orcid.org/0000-0002-3160-0784"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxin Yang","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100425709","display_name":"Li Zhang","orcid":"https://orcid.org/0000-0003-1152-8962"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Zhang","raw_affiliation_strings":["CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin NT, Hong Kong, China","Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China","The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin NT, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5069385543"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":2.1922,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.91724138,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8515","last_page":"8521"},"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":0.9991999864578247,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/workspace","display_name":"Workspace","score":0.8190144300460815},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7061749696731567},{"id":"https://openalex.org/keywords/hall-effect-sensor","display_name":"Hall effect sensor","score":0.6151883006095886},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6017679572105408},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5892229676246643},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5642293095588684},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5479710698127747},{"id":"https://openalex.org/keywords/electromagnetic-coil","display_name":"Electromagnetic coil","score":0.5059358477592468},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.41637134552001953},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3871399164199829},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3619407117366791},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3564121127128601},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31382501125335693},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.25937962532043457},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2491019070148468},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19300371408462524},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.1367713212966919},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10469639301300049}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8190144300460815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7061749696731567},{"id":"https://openalex.org/C107637996","wikidata":"https://www.wikidata.org/wiki/Q1431247","display_name":"Hall effect sensor","level":3,"score":0.6151883006095886},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6017679572105408},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5892229676246643},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5642293095588684},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5479710698127747},{"id":"https://openalex.org/C30403606","wikidata":"https://www.wikidata.org/wiki/Q2981904","display_name":"Electromagnetic coil","level":2,"score":0.5059358477592468},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.41637134552001953},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3871399164199829},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3619407117366791},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3564121127128601},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31382501125335693},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.25937962532043457},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2491019070148468},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19300371408462524},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.1367713212966919},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10469639301300049},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9635953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635953","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320904","display_name":"Croucher Foundation","ror":"https://ror.org/04741mc34"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1990416424","https://openalex.org/W2021514849","https://openalex.org/W2043492189","https://openalex.org/W2059605601","https://openalex.org/W2094904022","https://openalex.org/W2118772444","https://openalex.org/W2161168135","https://openalex.org/W2275963211","https://openalex.org/W2292347270","https://openalex.org/W2333051748","https://openalex.org/W2609581415","https://openalex.org/W2738944227","https://openalex.org/W2770449782","https://openalex.org/W2783641035","https://openalex.org/W2792004436","https://openalex.org/W2896049741","https://openalex.org/W2945906781","https://openalex.org/W2951997750","https://openalex.org/W2969043234","https://openalex.org/W2969184044","https://openalex.org/W2980790222","https://openalex.org/W3026120149","https://openalex.org/W3078964289","https://openalex.org/W3086224848","https://openalex.org/W3089791431","https://openalex.org/W3093713122","https://openalex.org/W3095434699","https://openalex.org/W3127291264","https://openalex.org/W3127904365","https://openalex.org/W3130170116","https://openalex.org/W3139518839","https://openalex.org/W3142938931","https://openalex.org/W3189645365","https://openalex.org/W6782132747"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"Large":[0],"workspace":[1,58],"localization":[2,16,21,68,98,119],"of":[3,24,52,59,99],"magnetic":[4,25,53],"robots":[5,26],"is":[6,74,80,125],"important":[7],"for":[8],"medical":[9],"applications.":[10],"This":[11],"paper":[12],"presents":[13],"a":[14,35,56,100,104],"novel":[15],"strategy":[17],"to":[18,42,82,92],"achieve":[19],"simultaneous":[20,95],"and":[22,38,50,97,103,121],"actuation":[23,51,96],"using":[27,70],"hall-effect":[28],"sensors.":[29],"We":[30],"integrate":[31],"25":[32],"sensors":[33],"into":[34],"sensing":[36,49],"probe":[37],"mount":[39],"it":[40],"on":[41],"the":[43,66,71,84,94,110,114,118,122],"mobile-coil":[44],"system,":[45],"which":[46],"realizes":[47],"accurate":[48],"devices":[54],"within":[55],"cylindrical":[57],"\u03d5500":[60],"mm\u00d7150":[61],"mm.":[62,76,129],"Simulation":[63],"results":[64,120],"show":[65],"average":[67,115],"error":[69],"proposed":[72],"method":[73],"1.7":[75],"A":[77],"verification":[78],"experiment":[79],"conducted":[81,91],"prove":[83],"design":[85],"advantages;":[86],"Another":[87],"two":[88],"experiments":[89],"are":[90],"demonstrate":[93],"torque-driven":[101],"robot":[102,107],"force-driven":[105,111],"floating":[106,112],"respectively.":[108],"For":[109],"robot,":[113],"variation":[116],"between":[117],"desired":[123],"trajectory":[124],"less":[126],"than":[127],"2":[128]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}