{"id":"https://openalex.org/W2149433097","doi":"https://doi.org/10.1109/tro.2011.2173835","title":"Two-Dimensional Autonomous Microparticle Manipulation Strategies for Magnetic Microrobots in Fluidic Environments","display_name":"Two-Dimensional Autonomous Microparticle Manipulation Strategies for Magnetic Microrobots in Fluidic Environments","publication_year":2011,"publication_date":"2011-11-22","ids":{"openalex":"https://openalex.org/W2149433097","doi":"https://doi.org/10.1109/tro.2011.2173835","mag":"2149433097"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2173835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2173835","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5111979747","display_name":"Chytra Pawashe","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chytra Pawashe","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Intel Corporation, Hillsboro, OR, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Intel Corporation, Hillsboro, OR, USA","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081327846","display_name":"Steven Floyd","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089452","display_name":"Aret\u00e9 Associates (United States)","ror":"https://ror.org/00cmpcq57","country_code":"US","type":"company","lineage":["https://openalex.org/I4210089452"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Floyd","raw_affiliation_strings":["Aret\u00e9 Associates, Arlington, VA, USA","Department ofMechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Aret\u00e9 Associates, Arlington, VA, USA","institution_ids":["https://openalex.org/I4210089452"]},{"raw_affiliation_string":"Department ofMechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021398654","display_name":"Eric Diller","orcid":"https://orcid.org/0000-0003-4627-0797"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Diller","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079968392","display_name":"Metin Sitti","orcid":"https://orcid.org/0000-0001-8249-3854"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Metin Sitti","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111979747"],"corresponding_institution_ids":["https://openalex.org/I1343180700","https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":10.9314,"has_fulltext":false,"cited_by_count":113,"citation_normalized_percentile":{"value":0.98877143,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"28","issue":"2","first_page":"467","last_page":"477"},"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":0.9995999932289124,"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":0.9965000152587891,"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/fluidics","display_name":"Fluidics","score":0.7613387107849121},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5524741411209106},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5312404632568359},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49218979477882385},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4601825177669525},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43285197019577026},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.42643123865127563},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4192647933959961},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.4189606308937073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3906002342700958},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38412830233573914},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3700273036956787},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3623683452606201},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3408139944076538},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13412433862686157},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12617403268814087}],"concepts":[{"id":"https://openalex.org/C132651336","wikidata":"https://www.wikidata.org/wiki/Q185571","display_name":"Fluidics","level":2,"score":0.7613387107849121},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5524741411209106},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5312404632568359},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49218979477882385},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4601825177669525},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43285197019577026},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.42643123865127563},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4192647933959961},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.4189606308937073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3906002342700958},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38412830233573914},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3700273036956787},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3623683452606201},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3408139944076538},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13412433862686157},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12617403268814087},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2011.2173835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2173835","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.411.6760","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.411.6760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://nanolab.me.cmu.edu/publications/papers/Pawashe_2012_TRO.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1526671757","https://openalex.org/W1569851162","https://openalex.org/W1966412443","https://openalex.org/W1978990847","https://openalex.org/W1982310825","https://openalex.org/W1982549141","https://openalex.org/W1990416424","https://openalex.org/W1996307949","https://openalex.org/W1999578039","https://openalex.org/W2002907761","https://openalex.org/W2006237048","https://openalex.org/W2009484330","https://openalex.org/W2010465190","https://openalex.org/W2015230808","https://openalex.org/W2017445132","https://openalex.org/W2018108785","https://openalex.org/W2027344868","https://openalex.org/W2041242313","https://openalex.org/W2049220874","https://openalex.org/W2050722886","https://openalex.org/W2055596401","https://openalex.org/W2061515128","https://openalex.org/W2068129881","https://openalex.org/W2070450237","https://openalex.org/W2108489828","https://openalex.org/W2109700446","https://openalex.org/W2111530751","https://openalex.org/W2124614417","https://openalex.org/W2146448117","https://openalex.org/W2151012298","https://openalex.org/W2152288213","https://openalex.org/W2160337655","https://openalex.org/W2161176408","https://openalex.org/W2161268698","https://openalex.org/W2165032710","https://openalex.org/W2167222661","https://openalex.org/W2167803192","https://openalex.org/W2168587747","https://openalex.org/W2328390760","https://openalex.org/W4206706389","https://openalex.org/W4242811155","https://openalex.org/W4250022393","https://openalex.org/W6676453486"],"related_works":["https://openalex.org/W1718659621","https://openalex.org/W4322494644","https://openalex.org/W2353476186","https://openalex.org/W2381426581","https://openalex.org/W1597743150","https://openalex.org/W2039025105","https://openalex.org/W1842721500","https://openalex.org/W2048325583","https://openalex.org/W2169347279","https://openalex.org/W2066459308"],"abstract_inverted_index":{"This":[0],"study":[1],"develops":[2],"autonomous":[3],"manipulation":[4,111,118],"strategies":[5],"for":[6],"a":[7,14,18,25,55,79,86,128,132,139,169],"mobile":[8],"untethered":[9],"microrobot":[10,53,81],"that":[11,75,126],"operates":[12],"on":[13],"2-D":[15],"surface":[16],"in":[17,31,67],"fluidic":[19],"environment.":[20],"The":[21],"microrobot,":[22,162],"which":[23,64,114,135,163],"is":[24,28,35,124,136,164],"permanent":[26],"magnet,":[27],"under":[29],"m":[30],"all":[32],"dimensions":[33],"and":[34,60,109],"actuated":[36],"by":[37,57,78,167],"oscillating":[38],"external":[39],"magnetic":[40],"fields.":[41],"Two":[42],"types":[43],"of":[44,96],"manipulations":[45],"are":[46,76,82,90,112],"considered:":[47],"1)":[48],"front":[49],"pushing,":[50,63,69],"where":[51,70],"the":[52,71,94,97,101,153,161],"pushes":[54],"micro-object":[56,98,145],"direct":[58],"contact;":[59],"2)":[61],"side":[62],"can":[65,142],"result":[66],"noncontact":[68,110],"fluid":[72,102],"flow":[73],"fields":[74],"generated":[77],"translating":[80],"used":[83],"to":[84,92,100,106,120,151,155],"displace":[85],"micro-object.":[87],"Physical":[88],"models":[89],"provided":[91],"estimate":[93],"displacement":[95],"due":[99],"motion.":[103],"Model-based":[104],"controllers":[105],"perform":[107],"contact":[108],"proposed,":[113],"iteratively":[115],"correct":[116],"emerging":[117],"behaviors":[119],"improve":[121,144],"performance.":[122,147],"It":[123],"found":[125],"using":[127,160,168],"model-based":[129],"solution":[130],"as":[131],"feed-forward":[133],"input,":[134],"combined":[137],"with":[138],"learning":[140],"controller,":[141],"significantly":[143],"pushing":[146],"Finally,":[148],"we":[149],"begin":[150],"address":[152],"problem":[154],"assemble":[156],"two":[157],"micro-objects":[158],"together":[159],"only":[165],"successful":[166],"side-pushing":[170],"method.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":18},{"year":2013,"cited_by_count":15},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-06T07:47:59.780226","created_date":"2025-10-10T00:00:00"}