{"id":"https://openalex.org/W3019394142","doi":"https://doi.org/10.1109/tase.2020.2984890","title":"Dual Rotating Microsphere Using Robotic Feedforward Compensation Control of Cooperative Flexible Micropipettes","display_name":"Dual Rotating Microsphere Using Robotic Feedforward Compensation Control of Cooperative Flexible Micropipettes","publication_year":2020,"publication_date":"2020-04-20","ids":{"openalex":"https://openalex.org/W3019394142","doi":"https://doi.org/10.1109/tase.2020.2984890","mag":"3019394142"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2020.2984890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2984890","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5053307968","display_name":"Wanfeng Shang","orcid":"https://orcid.org/0000-0002-3256-3268"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanfeng Shang","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences, Shenzhen, China","Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3256-3268","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210104064"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046602634","display_name":"Hao Ren","orcid":"https://orcid.org/0000-0002-5123-315X"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Ren","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018719202","display_name":"Mingjian Zhu","orcid":"https://orcid.org/0000-0003-1726-9148"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingjian Zhu","raw_affiliation_strings":["School of Electric Engineering and Automation, Anhui University, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electric Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078006294","display_name":"Tiantian Xu","orcid":"https://orcid.org/0000-0001-8974-4572"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiantian Xu","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences, Shenzhen, China","Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8974-4572","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210104064"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100352764","display_name":"Xinyu Wu","orcid":"https://orcid.org/0000-0001-6130-7821"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Wu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Chinese Academy of Sciences, Shenzhen, China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-6130-7821","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210104064"]},{"raw_affiliation_string":"SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210104064"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9793,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.86220102,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"17","issue":"4","first_page":"2004","last_page":"2013"},"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/microsphere","display_name":"Microsphere","score":0.7025460004806519},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.67484050989151},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5515518188476562},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5159578919410706},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48623600602149963},{"id":"https://openalex.org/keywords/pipette","display_name":"Pipette","score":0.48287704586982727},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4674188792705536},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.43876853585243225},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37104469537734985},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3581697642803192},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35080355405807495},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.301292359828949},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12970978021621704},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.0851060152053833}],"concepts":[{"id":"https://openalex.org/C189942447","wikidata":"https://www.wikidata.org/wiki/Q61186","display_name":"Microsphere","level":2,"score":0.7025460004806519},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.67484050989151},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5515518188476562},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5159578919410706},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48623600602149963},{"id":"https://openalex.org/C151552171","wikidata":"https://www.wikidata.org/wiki/Q163373","display_name":"Pipette","level":2,"score":0.48287704586982727},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4674188792705536},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.43876853585243225},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37104469537734985},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3581697642803192},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35080355405807495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.301292359828949},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12970978021621704},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0851060152053833},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C147789679","wikidata":"https://www.wikidata.org/wiki/Q11372","display_name":"Physical chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2020.2984890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2984890","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5899999737739563,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1831141303","display_name":null,"funder_award_id":"2018A030313028","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"},{"id":"https://openalex.org/G406947072","display_name":null,"funder_award_id":"2018IRS07","funder_id":"https://openalex.org/F4320335791","funder_display_name":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology"}],"funders":[{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null},{"id":"https://openalex.org/F4320335791","display_name":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1934567899","https://openalex.org/W1962230723","https://openalex.org/W1987827859","https://openalex.org/W1996072881","https://openalex.org/W2012900718","https://openalex.org/W2012994941","https://openalex.org/W2032297807","https://openalex.org/W2036563033","https://openalex.org/W2048176578","https://openalex.org/W2120356183","https://openalex.org/W2133971847","https://openalex.org/W2134903991","https://openalex.org/W2136692297","https://openalex.org/W2161176408","https://openalex.org/W2279912946","https://openalex.org/W2331382291","https://openalex.org/W2409108796","https://openalex.org/W2744424318","https://openalex.org/W2769339685","https://openalex.org/W2783524862","https://openalex.org/W2791918578","https://openalex.org/W2796108070","https://openalex.org/W2809844233","https://openalex.org/W2901699415","https://openalex.org/W2940956030","https://openalex.org/W2946234510"],"related_works":["https://openalex.org/W2527888227","https://openalex.org/W2335837029","https://openalex.org/W2043403464","https://openalex.org/W2236318108","https://openalex.org/W2333119910","https://openalex.org/W2358667400","https://openalex.org/W2018853599","https://openalex.org/W2008073618","https://openalex.org/W2157569674","https://openalex.org/W1992197332"],"abstract_inverted_index":{"High":[0],"flexible":[1,37,79,209,263],"and":[2,18,31,68,92,141,197,224,235,253,262,289],"high":[3],"precise":[4,71,110,233,261],"manipulation":[5,30,38,51,84,111,166,210,220,237],"is":[6,186,202],"one":[7],"of":[8,33,52,112,123,131,167,207,211,238,247,284],"the":[9,28,48,57,70,95,109,121,129,132,142,180,205,208,232],"most":[10],"critical":[11],"technique":[12],"for":[13,73,108,179,193,260],"complex":[14,194],"microsystem\u2019s":[15,195],"measurement,":[16],"manufacture,":[17],"assembly.":[19],"Although":[20],"recent":[21],"advances":[22],"in":[23,39,135,170,214,240],"microrobotics":[24],"have":[25],"successfully":[26],"realized":[27,69,140],"automatic":[29],"positioning":[32],"tiny":[34,212],"objects,":[35],"their":[36],"3-D":[40,171,215,241],"free":[41,172],"space":[42],"remains":[43],"a":[44,65,82,98,127,190,257,285],"challenge,":[45],"such":[46,278],"as":[47,279],"wide-angle":[49,164],"rotation":[50,72,105,130,165],"microsize":[53],"sphere,":[54],"due":[55],"to":[56,188,199,275],"complicate":[58],"surface":[59],"forces.":[60,125],"Herein,":[61],"this":[62,161],"article":[63,162,201],"proposed":[64,107,218,251],"feedforward":[66,99,225],"model":[67,227],"microsized":[74,113,133,143,168,181],"sphere":[75,114,134,144,169],"by":[76,204],"two":[77,136,222],"cooperative":[78],"micropipettes.":[80],"Firstly,":[81],"microrobotic":[83],"system":[85,252],"with":[86,94,153],"six":[87],"degrees-of-freedom":[88],"(DOFs)":[89],"was":[90,106,139,147],"developed":[91],"integrated":[93],"microscope.":[96],"Then,":[97],"compensation":[100,226],"control":[101,228],"strategy":[102,229],"involving":[103],"dual":[104],"(${\\sim":[115],"}90~\\mu":[116],"\\text":[117],"{m}$)":[118],"based":[119],"on":[120],"analysis":[122],"contact":[124],"As":[126],"result,":[128],"different":[137],"planes":[138],"release":[145],"procedure":[146],"also":[148],"accomplished":[149],"after":[150],"rotation.":[151],"Compared":[152],"existing":[154,248],"techniques":[155],"only":[156],"allowing":[157],"limited":[158],"amplitudes":[159],"rotation,":[160],"realizes":[163],"space.":[173,216],"This":[174],"research":[175,274],"opens":[176],"new":[177],"prospects":[178],"object":[182,213],"accurate":[183],"manipulation,":[184],"which":[185,243],"expected":[187],"give":[189],"long-term":[191],"impact":[192],"manufacture":[196],"assembly.Note":[198],"Practitioners\u2014This":[200],"motivated":[203],"problem":[206],"The":[217,250],"nanorobotic":[219],"system,":[221],"micropipettes":[223],"could":[230,255,267],"realize":[231],"translational":[234],"rotational":[236],"microbeads":[239],"space,":[242],"offers":[244],"obvious":[245],"advantages":[246],"techniques.":[249],"method":[254],"be":[256],"general":[258],"solution":[259],"micromanipulation.":[264],"Thus,":[265],"it":[266],"find":[268],"wide":[269],"applications":[270],"ranging":[271],"from":[272],"fundamental":[273],"industrial":[276],"applications,":[277],"biological":[280],"cell":[281],"positioning,":[282],"characterization":[283],"particular":[286],"micro/nanoregion,":[287],"microassembly,":[288],"manufacturing.":[290]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
