{"id":"https://openalex.org/W2124016182","doi":"https://doi.org/10.1109/robot.2006.1641962","title":"Dynamics modeling and analysis of a swimming microrobot for controlled drug delivery","display_name":"Dynamics modeling and analysis of a swimming microrobot for controlled drug delivery","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2124016182","doi":"https://doi.org/10.1109/robot.2006.1641962","mag":"2124016182"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641962","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641962","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5100682661","display_name":"Huaming Li","orcid":"https://orcid.org/0000-0002-9538-5358"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Huaming Li","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA","[Dept. of Electr. & Comput. Eng., Michigan Technol. Univ., Houghton, MI]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Michigan Technol. Univ., Houghton, MI]","institution_ids":["https://openalex.org/I11957088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025711005","display_name":"Jindong Tan","orcid":"https://orcid.org/0000-0003-0339-8811"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jindong Tan","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA","[Dept. of Electr. & Comput. Eng., Michigan Technol. Univ., Houghton, MI]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Michigan Technol. Univ., Houghton, MI]","institution_ids":["https://openalex.org/I11957088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101639644","display_name":"Mingjun Zhang","orcid":"https://orcid.org/0000-0002-4869-246X"},"institutions":[{"id":"https://openalex.org/I138285227","display_name":"Agilent Technologies (United States)","ror":"https://ror.org/02tryst02","country_code":"US","type":"company","lineage":["https://openalex.org/I138285227"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingjun Zhang","raw_affiliation_strings":["Agilent Technologies, Inc., Palo Alto, CA, USA","Agilent Technologies Inc., Palo Alto, CA, USA"],"affiliations":[{"raw_affiliation_string":"Agilent Technologies, Inc., Palo Alto, CA, USA","institution_ids":["https://openalex.org/I138285227"]},{"raw_affiliation_string":"Agilent Technologies Inc., Palo Alto, CA, USA","institution_ids":["https://openalex.org/I138285227"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100682661"],"corresponding_institution_ids":["https://openalex.org/I11957088"],"apc_list":null,"apc_paid":null,"fwci":1.9019,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.85508156,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"32","issue":null,"first_page":"1768","last_page":"1773"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9954000115394592,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9878000020980835,"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/torque","display_name":"Torque","score":0.6701598167419434},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6237176060676575},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6071387529373169},{"id":"https://openalex.org/keywords/head","display_name":"Head (geology)","score":0.5309578776359558},{"id":"https://openalex.org/keywords/resistive-touchscreen","display_name":"Resistive touchscreen","score":0.4994041919708252},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46643543243408203},{"id":"https://openalex.org/keywords/spiral","display_name":"Spiral (railway)","score":0.4594500958919525},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39465129375457764},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3826984465122223},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.3685646057128906},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3662288784980774},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3649826645851135},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3504980206489563},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1904771625995636},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09764176607131958},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07849738001823425}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6701598167419434},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6237176060676575},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6071387529373169},{"id":"https://openalex.org/C2780312720","wikidata":"https://www.wikidata.org/wiki/Q5689100","display_name":"Head (geology)","level":2,"score":0.5309578776359558},{"id":"https://openalex.org/C6899612","wikidata":"https://www.wikidata.org/wiki/Q852911","display_name":"Resistive touchscreen","level":2,"score":0.4994041919708252},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46643543243408203},{"id":"https://openalex.org/C174128100","wikidata":"https://www.wikidata.org/wiki/Q846907","display_name":"Spiral (railway)","level":2,"score":0.4594500958919525},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39465129375457764},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3826984465122223},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.3685646057128906},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3662288784980774},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3649826645851135},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3504980206489563},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1904771625995636},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09764176607131958},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07849738001823425},{"id":"https://openalex.org/C114793014","wikidata":"https://www.wikidata.org/wiki/Q52109","display_name":"Geomorphology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2006.1641962","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641962","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},{"id":"pmh:oai:digitalcommons.mtu.edu:michigantech-p-30210","is_oa":false,"landing_page_url":"https://digitalcommons.mtu.edu/michigantech-p/10908","pdf_url":null,"source":{"id":"https://openalex.org/S4377196391","display_name":"Digital Commons - Michigan Tech (Michigan Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11957088","host_organization_name":"Michigan Technological University","host_organization_lineage":["https://openalex.org/I11957088"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Michigan Tech Publications, Part 1","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1577142055","https://openalex.org/W1902161937","https://openalex.org/W1927459862","https://openalex.org/W2025817540","https://openalex.org/W2031850650","https://openalex.org/W2051131629","https://openalex.org/W2056370235","https://openalex.org/W2058147931","https://openalex.org/W2059124788","https://openalex.org/W2076701365","https://openalex.org/W2099453649","https://openalex.org/W2100085950","https://openalex.org/W2104103348","https://openalex.org/W2108623852","https://openalex.org/W2109836092","https://openalex.org/W2111600712","https://openalex.org/W2122833178","https://openalex.org/W2123198038","https://openalex.org/W2134644534","https://openalex.org/W2156718372","https://openalex.org/W2156760285","https://openalex.org/W2161091531","https://openalex.org/W2169012616","https://openalex.org/W2315065769","https://openalex.org/W3149800622","https://openalex.org/W4251786266","https://openalex.org/W6665096581","https://openalex.org/W6678488299","https://openalex.org/W6682845038"],"related_works":["https://openalex.org/W2378383478","https://openalex.org/W2724311592","https://openalex.org/W2765172718","https://openalex.org/W2750966250","https://openalex.org/W2058637570","https://openalex.org/W2040174473","https://openalex.org/W2136381818","https://openalex.org/W1510405023","https://openalex.org/W4387835011","https://openalex.org/W2022630259"],"abstract_inverted_index":{"The":[0,23,56,77,133,145],"design":[1],"of":[2,10,37,59,167],"a":[3,11,34,95,123,138,151],"tiny":[4],"swimming":[5,49,61],"robot,":[6],"which":[7,70],"is":[8,18,25,41,63,99,162],"composed":[9],"spiral-type":[12,78],"head":[13,57,79,102],"and":[14,46,82,85,109,140,175],"an":[15],"elastic":[16,92,116,131],"tail,":[17],"proposed":[19],"in":[20,154],"this":[21],"paper.":[22],"microrobot":[24,169],"designed":[26],"for":[27,48,90],"controlled":[28,155],"drug":[29,152,156],"delivery":[30,157],"as":[31,33,87,150],"well":[32],"wide":[35],"range":[36],"biomedical":[38],"applications.":[39],"It":[40],"at":[42],"the":[43,60,88,91,101,106,114,119,130,165,168,177],"millimeter":[44],"scale":[45],"suitable":[47],"under":[50],"low":[51],"Reynolds":[52],"number":[53],"(Re)":[54],"environment.":[55],"part":[58],"robot":[62],"driven":[64],"by":[65],"external":[66],"rotating":[67,96],"magnetic":[68,97],"fields,":[69],"enables":[71],"it":[72],"to":[73,113,163],"be":[74],"operated":[75],"wirelessly.":[76],"accommodates":[80],"communication":[81],"control":[83],"units":[84],"serves":[86,149],"base":[89],"tail.":[93,117,132],"When":[94,118],"field":[98],"applied,":[100],"rotates":[103],"synchronously":[104],"with":[105,180],"field,":[107],"generating":[108],"propagating":[110],"driving":[111,120],"torque":[112,121],"straight":[115],"reaches":[122],"threshold,":[124],"dramatic":[125],"deformation":[126],"takes":[127],"place":[128],"on":[129],"tail":[134,147],"then":[135],"transforms":[136],"into":[137],"helix":[139],"generates":[141],"helpful":[142],"propulsive":[143],"thrust.":[144],"entire":[146],"also":[148],"reservoir":[153],"operations.":[158],"This":[159],"paper's":[160],"focus":[161],"analyze":[164],"dynamics":[166],"using":[170],"resistive":[171],"force":[172],"theory":[173],"(RFT),":[174],"compare":[176],"propulsion":[178],"performance":[179],"other":[181],"rigid-body":[182],"microrobots":[183]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}