{"id":"https://openalex.org/W4386883472","doi":"https://doi.org/10.1109/rcar58764.2023.10249021","title":"Design and Simulation of a Helical Microrobot for Maximum Speed Enhancement by Physical Surface Modification","display_name":"Design and Simulation of a Helical Microrobot for Maximum Speed Enhancement by Physical Surface Modification","publication_year":2023,"publication_date":"2023-07-17","ids":{"openalex":"https://openalex.org/W4386883472","doi":"https://doi.org/10.1109/rcar58764.2023.10249021"},"language":"en","primary_location":{"id":"doi:10.1109/rcar58764.2023.10249021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar58764.2023.10249021","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5100546752","display_name":"Siyu Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyu Guo","raw_affiliation_strings":["Beijing Institute of Technology,Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014749523","display_name":"Maolin Wang","orcid":"https://orcid.org/0000-0001-7449-9834"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maolin Wang","raw_affiliation_strings":["Beijing Institute of Technology,Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471798","display_name":"Huaping Wang","orcid":"https://orcid.org/0000-0001-8440-3402"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaping Wang","raw_affiliation_strings":["Ministry of Education,Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education,Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002842701","display_name":"Shihao Zhong","orcid":"https://orcid.org/0000-0001-5710-1767"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shihao Zhong","raw_affiliation_strings":["Beijing Institute of Technology,School of Medical Technology,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Medical Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083703227","display_name":"Yukang Qiu","orcid":"https://orcid.org/0000-0002-9839-4401"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukang Qiu","raw_affiliation_strings":["Beijing Institute of Technology,Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047049202","display_name":"Yaozhen Hou","orcid":"https://orcid.org/0000-0002-9539-4713"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaozhen Hou","raw_affiliation_strings":["Ministry of Education,Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education,Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011265988","display_name":"Qing Shi","orcid":"https://orcid.org/0000-0002-9914-7314"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Shi","raw_affiliation_strings":["Beijing Institute of Technology,Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065569192","display_name":"Toshio Fukuda","orcid":"https://orcid.org/0000-0002-3885-7152"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Toshio Fukuda","raw_affiliation_strings":["Ministry of Education,Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education,Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology),Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1785,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.48910273,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"492","last_page":"497"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9865000247955322,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9772999882698059,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/propulsion","display_name":"Propulsion","score":0.582942545413971},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.5201359391212463},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5184097290039062},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.492216020822525},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4753793776035309},{"id":"https://openalex.org/keywords/fluent","display_name":"Fluent","score":0.4629868268966675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.459244042634964},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4375934898853302},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42868274450302124},{"id":"https://openalex.org/keywords/marine-propulsion","display_name":"Marine propulsion","score":0.4130796492099762},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.3302403688430786},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.24625161290168762},{"id":"https://openalex.org/keywords/computer-simulation","display_name":"Computer simulation","score":0.23950758576393127},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22775518894195557},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12778380513191223},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1261836290359497},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09955233335494995},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08027347922325134}],"concepts":[{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.582942545413971},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5201359391212463},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5184097290039062},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.492216020822525},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4753793776035309},{"id":"https://openalex.org/C2780411076","wikidata":"https://www.wikidata.org/wiki/Q5462653","display_name":"Fluent","level":3,"score":0.4629868268966675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.459244042634964},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4375934898853302},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42868274450302124},{"id":"https://openalex.org/C505695854","wikidata":"https://www.wikidata.org/wiki/Q11482290","display_name":"Marine propulsion","level":3,"score":0.4130796492099762},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.3302403688430786},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.24625161290168762},{"id":"https://openalex.org/C500300565","wikidata":"https://www.wikidata.org/wiki/Q925667","display_name":"Computer simulation","level":2,"score":0.23950758576393127},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22775518894195557},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12778380513191223},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1261836290359497},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09955233335494995},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08027347922325134},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar58764.2023.10249021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar58764.2023.10249021","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1983133073","https://openalex.org/W1985784623","https://openalex.org/W2008140320","https://openalex.org/W2015379251","https://openalex.org/W2017715371","https://openalex.org/W2041675282","https://openalex.org/W2166630874","https://openalex.org/W2168046319","https://openalex.org/W2171761620","https://openalex.org/W2171835918","https://openalex.org/W2210641573","https://openalex.org/W2313441237","https://openalex.org/W2540910451","https://openalex.org/W2567433174","https://openalex.org/W2803808865","https://openalex.org/W2811228695","https://openalex.org/W2886427858","https://openalex.org/W2913128209","https://openalex.org/W2944559893","https://openalex.org/W2944679459","https://openalex.org/W2979578269","https://openalex.org/W3206171033","https://openalex.org/W4206275947","https://openalex.org/W4239173138","https://openalex.org/W4293150143","https://openalex.org/W4294311002","https://openalex.org/W6842865800"],"related_works":["https://openalex.org/W4307720037","https://openalex.org/W2889106326","https://openalex.org/W2327216671","https://openalex.org/W421511709","https://openalex.org/W3081652730","https://openalex.org/W2001477951","https://openalex.org/W2791627130","https://openalex.org/W2118960880","https://openalex.org/W575866331","https://openalex.org/W2153030399"],"abstract_inverted_index":{"Magnetic":[0],"helical":[1,65,118],"microrobots":[2,97,119],"have":[3],"great":[4],"potential":[5],"in":[6,14,19,92],"biomedical":[7],"applications.":[8],"However,":[9],"improving":[10],"their":[11,79,89,129],"motion":[12],"performance":[13,126],"the":[15,31,34,42,49,64],"complex":[16],"and":[17,38,74,94,105],"variable":[18],"vivo":[20],"fluid":[21],"environment":[22],"remains":[23],"challenging.":[24],"Previous":[25],"researches":[26],"mainly":[27],"focus":[28],"on":[29,55,81],"optimizing":[30],"geometric":[32],"parameter,":[33],"evolutionary":[35],"structure":[36],"design,":[37],"chemical":[39],"modifications":[40,54],"of":[41,51],"robots,":[43],"with":[44,67,98,120,137],"limited":[45],"attention":[46],"given":[47],"to":[48,77,128,135],"impact":[50],"physical":[52,70],"surface":[53,69],"propulsion":[56],"performance.":[57,83],"To":[58],"address":[59],"this":[60],"issue,":[61],"we":[62,87],"design":[63],"microrobot":[66],"different":[68],"modifications,":[71],"including":[72],"dimpled":[73,121],"raised":[75,138],"surfaces,":[76],"evaluate":[78],"effects":[80],"swimming":[82,90,125],"With":[84],"ANSYS":[85],"Fluent,":[86],"simulated":[88],"process":[91],"water":[93],"found":[95],"that":[96,117],"physically":[99],"modified":[100],"surfaces":[101,122],"experience":[102],"less":[103],"resistance":[104],"exhibit":[106],"a":[107],"larger":[108,130],"step-out":[109],"frequency":[110],"while":[111],"swimming.":[112],"Moreover,":[113],"our":[114],"findings":[115],"suggest":[116],"demonstrate":[123],"superior":[124],"due":[127],"gas-liquid":[131],"interface":[132],"area":[133],"compared":[134],"those":[136],"surfaces.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}