{"id":"https://openalex.org/W2520777520","doi":"https://doi.org/10.1109/lra.2016.2608421","title":"Six-Degree-of-Freedom Localization of an Untethered Magnetic Capsule Using a Single Rotating Magnetic Dipole","display_name":"Six-Degree-of-Freedom Localization of an Untethered Magnetic Capsule Using a Single Rotating Magnetic Dipole","publication_year":2016,"publication_date":"2016-09-12","ids":{"openalex":"https://openalex.org/W2520777520","doi":"https://doi.org/10.1109/lra.2016.2608421","mag":"2520777520"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2608421","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2608421","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5040555186","display_name":"Katie M. Popek","orcid":"https://orcid.org/0000-0003-2453-5328"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Katie M. Popek","raw_affiliation_strings":["School of Computing and the Robotics Center, University of\u00a0Utah, Salt Lake City, UT, USA"],"affiliations":[{"raw_affiliation_string":"School of Computing and the Robotics Center, University of\u00a0Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060303594","display_name":"Thomas Schmid","orcid":"https://orcid.org/0000-0001-9708-931X"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Schmid","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Utah, Salt Lake City, UT, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063340394","display_name":"Jake J. Abbott","orcid":"https://orcid.org/0000-0002-0665-1934"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jake J. Abbott","raw_affiliation_strings":["the Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA"],"affiliations":[{"raw_affiliation_string":"the Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040555186"],"corresponding_institution_ids":["https://openalex.org/I223532165"],"apc_list":null,"apc_paid":null,"fwci":3.1892,"has_fulltext":false,"cited_by_count":89,"citation_normalized_percentile":{"value":0.92094805,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"2","issue":"1","first_page":"305","last_page":"312"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9986000061035156,"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":0.9986000061035156,"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/T12405","display_name":"Characterization and Applications of Magnetic Nanoparticles","score":0.9986000061035156,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9958000183105469,"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/magnet","display_name":"Magnet","score":0.6409754157066345},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.6142215728759766},{"id":"https://openalex.org/keywords/dipole","display_name":"Dipole","score":0.5826385021209717},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5633120536804199},{"id":"https://openalex.org/keywords/magnetic-dipole","display_name":"Magnetic dipole","score":0.5048444867134094},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.48985692858695984},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4856042265892029},{"id":"https://openalex.org/keywords/nuclear-magnetic-resonance","display_name":"Nuclear magnetic resonance","score":0.335817813873291},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31144505739212036},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.27265843749046326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2444489598274231},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1430293321609497},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10456138849258423}],"concepts":[{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.6409754157066345},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.6142215728759766},{"id":"https://openalex.org/C173523689","wikidata":"https://www.wikidata.org/wiki/Q215589","display_name":"Dipole","level":2,"score":0.5826385021209717},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5633120536804199},{"id":"https://openalex.org/C169852918","wikidata":"https://www.wikidata.org/wiki/Q390314","display_name":"Magnetic dipole","level":3,"score":0.5048444867134094},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.48985692858695984},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4856042265892029},{"id":"https://openalex.org/C46141821","wikidata":"https://www.wikidata.org/wiki/Q209402","display_name":"Nuclear magnetic resonance","level":1,"score":0.335817813873291},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31144505739212036},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.27265843749046326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2444489598274231},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1430293321609497},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10456138849258423},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2016.2608421","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2608421","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5600000023841858}],"awards":[{"id":"https://openalex.org/G3258777444","display_name":null,"funder_award_id":"0654414","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4365507174","display_name":null,"funder_award_id":"0952718","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W645502810","https://openalex.org/W1564897360","https://openalex.org/W1579736986","https://openalex.org/W1928981924","https://openalex.org/W1997101761","https://openalex.org/W1998062581","https://openalex.org/W2048111146","https://openalex.org/W2051547833","https://openalex.org/W2055573331","https://openalex.org/W2059605601","https://openalex.org/W2071330163","https://openalex.org/W2073574005","https://openalex.org/W2077210266","https://openalex.org/W2095474252","https://openalex.org/W2097286877","https://openalex.org/W2115980364","https://openalex.org/W2119302905","https://openalex.org/W2133761758","https://openalex.org/W2148828700","https://openalex.org/W2160597147","https://openalex.org/W2161168135","https://openalex.org/W2161425799","https://openalex.org/W2168006223","https://openalex.org/W2292347270","https://openalex.org/W2318352171","https://openalex.org/W2333051748","https://openalex.org/W4301014524","https://openalex.org/W6677974387","https://openalex.org/W7048757071"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W3049266486","https://openalex.org/W273282843","https://openalex.org/W2078928007","https://openalex.org/W2000583517","https://openalex.org/W2986012795","https://openalex.org/W1581393167","https://openalex.org/W2093267178"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,23,32,86,91,94],"method":[4],"to":[5,97],"estimate":[6],"the":[7,35,42,46,60,102],"six-degree-of-freedom":[8],"pose":[9],"of":[10,34,37,41,48,85],"magnetic":[12,88],"capsule,":[13],"with":[14],"an":[15],"embedded":[16],"permanent":[17],"magnet":[18],"and":[19,45,68,100],"Hall-effect":[20],"sensors,":[21],"using":[22,93],"rotating":[24],"dipole":[25,96],"field.":[26],"The":[27],"method's":[28],"convergence":[29],"properties":[30],"as":[31],"function":[33],"number":[36,47],"distinct":[38],"rotation":[39],"axes":[40],"applied":[43],"field":[44],"complete":[49],"rotations":[50],"about":[51],"each":[52],"axis":[53],"are":[54],"characterized.":[55],"Across":[56],"our":[57],"tested":[58],"workspace,":[59],"localization":[61],"error":[62],"was":[63],"4.9":[64],"\u00b1":[65,70,74],"2.7":[66],"mm":[67],"3.3":[69],"1.7":[71],"degrees":[72],"(mean":[73],"standard":[75],"deviation).":[76],"We":[77],"experimentally":[78],"demonstrate":[79],"this":[80],"is":[81],"sufficient":[82],"for":[83],"propulsion":[84],"screw-type":[87],"capsule":[89],"through":[90],"lumen":[92],"single":[95],"both":[98],"propel":[99],"localize":[101],"capsule.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}