{"id":"https://openalex.org/W3178824337","doi":"https://doi.org/10.1109/robosoft51838.2021.9479348","title":"Model-Based Control Can Improve the Performance of Artificial Cilia","display_name":"Model-Based Control Can Improve the Performance of Artificial Cilia","publication_year":2021,"publication_date":"2021-04-12","ids":{"openalex":"https://openalex.org/W3178824337","doi":"https://doi.org/10.1109/robosoft51838.2021.9479348","mag":"3178824337"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft51838.2021.9479348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft51838.2021.9479348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)","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/A5013363595","display_name":"Edoardo Milana","orcid":"https://orcid.org/0000-0003-3389-3039"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","DE"],"is_corresponding":true,"raw_author_name":"Edoardo Milana","raw_affiliation_strings":["German Aerospace Center (DLR),Institute for the Protection of Terrestrial Infrastructures,Sankt Augustin,Germany","KU Leuven and Flanders Make, Leuven, Belgium","Institute for the Protection of Terrestrial Infrastructures, German Aerospace Center (DLR), Sankt Augustin, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR),Institute for the Protection of Terrestrial Infrastructures,Sankt Augustin,Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"KU Leuven and Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]},{"raw_affiliation_string":"Institute for the Protection of Terrestrial Infrastructures, German Aerospace Center (DLR), Sankt Augustin, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012482583","display_name":"Francesco Stella","orcid":"https://orcid.org/0000-0002-4724-1886"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Francesco Stella","raw_affiliation_strings":["TU Delft,3ME,Cognitive Robotics Department,Delft,Netherlands"],"affiliations":[{"raw_affiliation_string":"TU Delft,3ME,Cognitive Robotics Department,Delft,Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019945050","display_name":"Benjamin Gorissen","orcid":"https://orcid.org/0000-0001-8275-7610"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","US"],"is_corresponding":false,"raw_author_name":"Benjamin Gorissen","raw_affiliation_strings":["KU Leuven and Flanders Make,Department of Mechanical Engineering,Leuven,Belgium","J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"KU Leuven and Flanders Make,Department of Mechanical Engineering,Leuven,Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]},{"raw_affiliation_string":"J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063771724","display_name":"Dominiek Reynaerts","orcid":"https://orcid.org/0000-0002-6158-0358"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Dominiek Reynaerts","raw_affiliation_strings":["KU Leuven and Flanders Make,Department of Mechanical Engineering,Leuven,Belgium"],"affiliations":[{"raw_affiliation_string":"KU Leuven and Flanders Make,Department of Mechanical Engineering,Leuven,Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050239145","display_name":"Cosimo Della Santina","orcid":"https://orcid.org/0000-0003-1067-1134"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["DE","NL"],"is_corresponding":false,"raw_author_name":"Cosimo Della Santina","raw_affiliation_strings":["TU Delft,3ME,Cognitive Robotics Department,Delft,Netherlands","Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany"],"affiliations":[{"raw_affiliation_string":"TU Delft,3ME,Cognitive Robotics Department,Delft,Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5013363595"],"corresponding_institution_ids":["https://openalex.org/I2898391981","https://openalex.org/I4210116480","https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":0.929,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.73758909,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"527","last_page":"530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983000159263611,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9925000071525574,"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/computer-science","display_name":"Computer science","score":0.6839460134506226},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.536575436592102},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5175132751464844},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4953857660293579},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.4904424846172333},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.48236173391342163},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46247828006744385},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.44183436036109924},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.437549352645874},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4222526550292969},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3861657977104187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35286134481430054},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21817851066589355},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15808320045471191},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13836252689361572},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09680488705635071}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6839460134506226},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.536575436592102},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5175132751464844},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4953857660293579},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.4904424846172333},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.48236173391342163},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46247828006744385},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.44183436036109924},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.437549352645874},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4222526550292969},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3861657977104187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35286134481430054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21817851066589355},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15808320045471191},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13836252689361572},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09680488705635071},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft51838.2021.9479348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft51838.2021.9479348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:188123","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"},{"id":"pmh:oai:tudelft.nl:uuid:d3906d05-e270-43ab-89c6-2b4512ccb476","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:d3906d05-e270-43ab-89c6-2b4512ccb476","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1815429836","https://openalex.org/W2019212799","https://openalex.org/W2056370235","https://openalex.org/W2073677587","https://openalex.org/W2097770951","https://openalex.org/W2104222659","https://openalex.org/W2111600712","https://openalex.org/W2151471214","https://openalex.org/W2189361793","https://openalex.org/W2595142274","https://openalex.org/W2783895545","https://openalex.org/W2799483393","https://openalex.org/W2870735678","https://openalex.org/W2902699554","https://openalex.org/W2922044866","https://openalex.org/W3000160985","https://openalex.org/W3004065651","https://openalex.org/W3008481858","https://openalex.org/W3015303069","https://openalex.org/W3020927757","https://openalex.org/W3031329960","https://openalex.org/W3035845906","https://openalex.org/W3094766386","https://openalex.org/W3108192750","https://openalex.org/W3118613712","https://openalex.org/W3118994804","https://openalex.org/W3120389665","https://openalex.org/W3134916898","https://openalex.org/W3153167354","https://openalex.org/W6734797129","https://openalex.org/W6793831253","https://openalex.org/W6885049359"],"related_works":["https://openalex.org/W2116422677","https://openalex.org/W2517007886","https://openalex.org/W2383994331","https://openalex.org/W1522019333","https://openalex.org/W278047738","https://openalex.org/W2076369646","https://openalex.org/W2373884197","https://openalex.org/W4244817184","https://openalex.org/W2961923709","https://openalex.org/W2516969888"],"abstract_inverted_index":{"Artificial":[0],"cilia":[1],"are":[2,12,33],"a":[3,47,65,82,120],"prominent":[4],"example":[5],"of":[6,63,90,122],"physical":[7,75],"intelligence.":[8,76],"Their":[9],"mechanical":[10,31],"properties":[11,32],"often":[13],"designed":[14],"so":[15],"to":[16,22,72,102],"achieve":[17,78],"desired":[18,54],"motions":[19],"in":[20,29,35,46,112,129],"response":[21],"very":[23],"simple":[24],"actuation":[25],"patterns.":[26],"Yet,":[27],"variability":[28],"the":[30,42,53,61,70,88,91,110],"inherent":[34],"these":[36],"systems.":[37],"This":[38,115],"may":[39],"critically":[40],"disrupt":[41],"input-output":[43],"relation,":[44],"resulting":[45],"final":[48],"behavior":[49],"completely":[50],"different":[51,113],"from":[52],"one.":[55],"In":[56],"this":[57],"Communication":[58],"we":[59],"investigate":[60],"possibility":[62],"designing":[64],"robotic":[66],"brain":[67],"that":[68,79],"helps":[69],"cilium":[71],"maintain":[73],"its":[74],"We":[77,99],"by":[80],"closing":[81],"model-based":[83],"control":[84],"loop":[85],"which":[86,124],"tracks":[87],"position":[89],"end":[92],"effector":[93],"while":[94],"compensating":[95],"for":[96],"drag":[97],"forces.":[98],"propose":[100],"experiments":[101],"characterize":[103],"our":[104],"model,":[105],"and":[106],"extensive":[107],"simulations":[108],"validating":[109],"results":[111],"conditions.":[114],"work":[116],"is":[117],"intended":[118],"as":[119],"proof":[121],"concept,":[123],"will":[125],"be":[126],"further":[127],"expanded":[128],"future":[130],"work.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}