{"id":"https://openalex.org/W4285117517","doi":"https://doi.org/10.1109/lra.2022.3179486","title":"FireFly: An Insect-Scale Aerial Robot Powered by Electroluminescent Soft Artificial Muscles","display_name":"FireFly: An Insect-Scale Aerial Robot Powered by Electroluminescent Soft Artificial Muscles","publication_year":2022,"publication_date":"2022-06-01","ids":{"openalex":"https://openalex.org/W4285117517","doi":"https://doi.org/10.1109/lra.2022.3179486"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3179486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3179486","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5102008077","display_name":"Suhan Kim","orcid":"https://orcid.org/0000-0001-6866-2623"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Suhan Kim","raw_affiliation_strings":["Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6866-2623","affiliations":[{"raw_affiliation_string":"Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069989114","display_name":"Yi\u2010Hsuan Hsiao","orcid":"https://orcid.org/0000-0002-1593-7969"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yi-Hsuan Hsiao","raw_affiliation_strings":["Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1593-7969","affiliations":[{"raw_affiliation_string":"Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090364686","display_name":"YuFan Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"YuFan Chen","raw_affiliation_strings":["Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027560733","display_name":"Jie Mao","orcid":"https://orcid.org/0000-0002-6635-4886"},"institutions":[{"id":"https://openalex.org/I21642278","display_name":"Ningxia University","ror":"https://ror.org/04j7b2v61","country_code":"CN","type":"education","lineage":["https://openalex.org/I21642278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Mao","raw_affiliation_strings":["State Key Laboratory of High-efficiency Utilization of Coal and Green Chemical Engineering, School of Chemistry and Chemical Engineering, Ningxia University, Yinchuan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of High-efficiency Utilization of Coal and Green Chemical Engineering, School of Chemistry and Chemical Engineering, Ningxia University, Yinchuan, China","institution_ids":["https://openalex.org/I21642278"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100394287","display_name":"Yufeng Chen","orcid":"https://orcid.org/0000-0001-5407-3211"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"YuFeng Chen","raw_affiliation_strings":["Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5407-3211","affiliations":[{"raw_affiliation_string":"Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.8516,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.97901953,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"6950","last_page":"6957"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9944999814033508,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9940000176429749,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/electroluminescence","display_name":"Electroluminescence","score":0.5009257793426514},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47092145681381226},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.4683949947357178},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4408072829246521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.372255802154541},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33902961015701294},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29060423374176025},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.15248817205429077},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.14726966619491577},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.11671876907348633}],"concepts":[{"id":"https://openalex.org/C31625292","wikidata":"https://www.wikidata.org/wiki/Q215803","display_name":"Electroluminescence","level":3,"score":0.5009257793426514},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47092145681381226},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.4683949947357178},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4408072829246521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.372255802154541},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33902961015701294},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29060423374176025},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.15248817205429077},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.14726966619491577},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.11671876907348633},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3179486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3179486","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1984408671","https://openalex.org/W2033819227","https://openalex.org/W2035155402","https://openalex.org/W2056019842","https://openalex.org/W2078024120","https://openalex.org/W2098537774","https://openalex.org/W2148197945","https://openalex.org/W2170701060","https://openalex.org/W2323956509","https://openalex.org/W2394925491","https://openalex.org/W2443951318","https://openalex.org/W2468140274","https://openalex.org/W2510508197","https://openalex.org/W2765248538","https://openalex.org/W2805642010","https://openalex.org/W2889774534","https://openalex.org/W2906188953","https://openalex.org/W2955102412","https://openalex.org/W2964182442","https://openalex.org/W2977827682","https://openalex.org/W2987068209","https://openalex.org/W3130833653","https://openalex.org/W3170790694","https://openalex.org/W3215514187","https://openalex.org/W6609270397"],"related_works":["https://openalex.org/W2338700700","https://openalex.org/W3136955865","https://openalex.org/W2542256560","https://openalex.org/W2386767533","https://openalex.org/W1578117154","https://openalex.org/W1971776229","https://openalex.org/W1800033570","https://openalex.org/W3010232788","https://openalex.org/W1543936162","https://openalex.org/W2079531124"],"abstract_inverted_index":{"Light":[0],"production":[1],"in":[2,51,173,193],"natural":[3],"fireflies":[4],"represents":[5],"an":[6],"effective":[7,166],"and":[8,13,38,44,66,93,101,119,134,151,157,165,170,179],"unique":[9],"method":[10,122],"for":[11,168],"communication":[12,169],"mating.":[14],"Inspired":[15],"by":[16,26],"bioluminescence,":[17],"we":[18,47],"develop":[19,116],"a":[20,52,62,87,117,129,163],"650":[21],"mg":[22],"aerial":[23,177],"robot":[24,60],"powered":[25],"four":[27],"electroluminescent":[28],"(EL)":[29],"dielectric":[30],"elastomer":[31],"actuators":[32],"(DEAs)":[33],"that":[34,54,139],"have":[35],"distinct":[36],"colors":[37],"patterns.":[39],"To":[40],"enable":[41],"simultaneous":[42],"actuation":[43,102],"light":[45],"emission,":[46],"embed":[48],"EL":[49,80],"particles":[50,81],"DEA":[53],"has":[55],"highly":[56],"transparent":[57],"electrodes.":[58],"During":[59],"flight,":[61],"strong":[63],"($>$40":[64],"V/$\\mu$m)":[65],"high":[67],"frequency":[68],"(400":[69],"Hz)":[70],"electric":[71],"field":[72],"is":[73],"generated":[74],"within":[75],"the":[76,79,108,141,183],"DEA,":[77,89],"exciting":[78],"to":[82,86],"emit":[83],"light.":[84],"Compared":[85],"regular":[88],"our":[90],"new":[91],"design":[92,167],"fabrication":[94],"methods":[95],"require":[96],"small":[97],"additional":[98],"weight":[99],"(2.4%)":[100],"power":[103,111],"(3.2%)":[104],"without":[105,190],"adversely":[106],"impacting":[107],"DEA\u2019s":[109],"output":[110],"or":[112],"lifetime.":[113],"We":[114,127],"further":[115,181],"position":[118,150],"attitude":[120,152],"tracking":[121,145,172,195],"using":[123,191],"vision-based":[124],"color":[125],"detection.":[126],"demonstrate":[128],"series":[130],"of":[131,140,185],"closed-loop":[132],"flights":[133,189],"compare":[135],"camera-tracked":[136],"results":[137],"with":[138],"state-of-the-art":[142],"Vicon":[143],"motion":[144,171],"system.":[146],"The":[147],"root-mean-square":[148],"(rms)":[149],"errors":[153],"are":[154],"2.55":[155],"mm":[156],"2.60$^\\circ$,":[158],"respectively.":[159],"This":[160],"work":[161],"illustrates":[162],"novel":[164],"extreme":[174],"payload-constrained":[175],"microscale":[176],"systems,":[178],"it":[180],"shows":[182],"potential":[184],"achieving":[186],"coordinated":[187],"swarm":[188],"well-calibrated":[192],"door":[194],"systems.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}