{"id":"https://openalex.org/W2018254475","doi":"https://doi.org/10.1109/tro.2015.2407795","title":"Achieving Commutation Control of an MRI-Powered Robot Actuator","display_name":"Achieving Commutation Control of an MRI-Powered Robot Actuator","publication_year":2015,"publication_date":"2015-03-16","ids":{"openalex":"https://openalex.org/W2018254475","doi":"https://doi.org/10.1109/tro.2015.2407795","mag":"2018254475"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2015.2407795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2407795","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/A5084221584","display_name":"Ouajdi Felfoul","orcid":null},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ouajdi Felfoul","raw_affiliation_strings":["Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA, USA","Department of Cardiovascular Surgery, Boston Children\u2019s Hospital, Harvard Medical School, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]},{"raw_affiliation_string":"Department of Cardiovascular Surgery, Boston Children\u2019s Hospital, Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062449649","display_name":"Aaron T. Becker","orcid":"https://orcid.org/0000-0001-7614-6282"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Becker","raw_affiliation_strings":["University of Houston, Houston, TX, USA","University of Houston; Houston, TX USA"],"affiliations":[{"raw_affiliation_string":"University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]},{"raw_affiliation_string":"University of Houston; Houston, TX USA","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008795008","display_name":"Christos Bergeles","orcid":"https://orcid.org/0000-0002-9152-3194"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christos Bergeles","raw_affiliation_strings":["Hamlyn Centre, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041400572","display_name":"Pierre E. Dupont","orcid":"https://orcid.org/0000-0001-7294-640X"},"institutions":[{"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/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pierre E. Dupont","raw_affiliation_strings":["Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA, USA","Department of Cardiovascular Surgery, Boston Children\u2019s Hospital, Harvard Medical School, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]},{"raw_affiliation_string":"Department of Cardiovascular Surgery, Boston Children\u2019s Hospital, Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5084221584"],"corresponding_institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":1.8185,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.84219811,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"31","issue":"2","first_page":"387","last_page":"399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10378","display_name":"Advanced MRI Techniques and Applications","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6767190098762512},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.569866418838501},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5315468311309814},{"id":"https://openalex.org/keywords/wound-rotor-motor","display_name":"Wound rotor motor","score":0.5077894330024719},{"id":"https://openalex.org/keywords/stator","display_name":"Stator","score":0.5018811225891113},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.49293971061706543},{"id":"https://openalex.org/keywords/commutation","display_name":"Commutation","score":0.47752395272254944},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38942861557006836},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3829321265220642},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2996633052825928},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.28245842456817627},{"id":"https://openalex.org/keywords/induction-motor","display_name":"Induction motor","score":0.22585853934288025},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1426953673362732},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0995732843875885}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6767190098762512},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.569866418838501},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5315468311309814},{"id":"https://openalex.org/C42672440","wikidata":"https://www.wikidata.org/wiki/Q643855","display_name":"Wound rotor motor","level":4,"score":0.5077894330024719},{"id":"https://openalex.org/C2776529397","wikidata":"https://www.wikidata.org/wiki/Q190312","display_name":"Stator","level":2,"score":0.5018811225891113},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.49293971061706543},{"id":"https://openalex.org/C2780147050","wikidata":"https://www.wikidata.org/wiki/Q5155085","display_name":"Commutation","level":3,"score":0.47752395272254944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38942861557006836},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3829321265220642},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2996633052825928},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.28245842456817627},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.22585853934288025},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1426953673362732},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0995732843875885},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2015.2407795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2407795","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:10.1.1.700.7404","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.700.7404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robotics.tch.harvard.edu/publications/pdfs/felfoul2015achieving.pdf","raw_type":"text"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1501613","is_oa":false,"landing_page_url":"http://discovery.ucl.ac.uk/1501613/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"   IEEE TRANSACTIONS ON ROBOTICS , 31  (2)   pp. 387-399.   (2015)      ","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8799999952316284}],"awards":[{"id":"https://openalex.org/G2122667172","display_name":null,"funder_award_id":"IIS-1208509","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W406058028","https://openalex.org/W1970634831","https://openalex.org/W1977840392","https://openalex.org/W1994418635","https://openalex.org/W1995104587","https://openalex.org/W1998581662","https://openalex.org/W2009691943","https://openalex.org/W2012159360","https://openalex.org/W2015705868","https://openalex.org/W2024888248","https://openalex.org/W2025405966","https://openalex.org/W2031120324","https://openalex.org/W2069447871","https://openalex.org/W2078050615","https://openalex.org/W2083863641","https://openalex.org/W2087826881","https://openalex.org/W2088308749","https://openalex.org/W2102603430","https://openalex.org/W2116144804","https://openalex.org/W2117201764","https://openalex.org/W2118613556","https://openalex.org/W2119947613","https://openalex.org/W2120926074","https://openalex.org/W2123980006","https://openalex.org/W2125140204","https://openalex.org/W2132302857","https://openalex.org/W2140644931","https://openalex.org/W2144053488","https://openalex.org/W2539888245","https://openalex.org/W3000400585"],"related_works":["https://openalex.org/W2360961134","https://openalex.org/W2382174283","https://openalex.org/W2660932584","https://openalex.org/W342500627","https://openalex.org/W3194533468","https://openalex.org/W2282955880","https://openalex.org/W2378957749","https://openalex.org/W3126603792","https://openalex.org/W2362287992","https://openalex.org/W2056603594"],"abstract_inverted_index":{"Actuators":[0],"that":[1],"are":[2],"powered,":[3],"imaged,":[4],"and":[5,32,53,69,89,100,115,126,131],"controlled":[6],"by":[7],"magnetic":[8],"resonance":[9],"(MR)":[10],"scanners":[11],"could":[12],"inexpensively":[13],"provide":[14],"wireless":[15],"control":[16,57],"of":[17,58,71,134,148],"MR-guided":[18],"robots.":[19],"Similar":[20],"to":[21,84,122],"traditional":[22],"electric":[23],"motors,":[24],"the":[25,30,59,67,72,85],"MR":[26,94,141],"scanner":[27],"acts":[28],"as":[29],"stator":[31],"generates":[33],"propulsive":[34],"torques":[35],"on":[36,108],"an":[37],"actuator":[38,143],"rotor":[39,73,113,116,129,135],"containing":[40],"one":[41],"or":[42],"more":[43],"ferrous":[44],"particles.":[45],"Generating":[46],"maximum":[47,146],"motor":[48,124],"torque":[49,125],"while":[50],"avoiding":[51],"instabilities":[52],"slippage":[54],"requires":[55],"closed-loop":[56,105,140],"electromagnetic":[60],"field":[61],"gradients,":[62],"i.e.,":[63],"commutation.":[64],"Accurately":[65],"estimating":[66],"position":[68],"velocity":[70],"is":[74,80,120],"essential":[75],"for":[76,104,112],"high-speed":[77],"control,":[78],"which":[79],"a":[81,102,139,145],"challenge":[82],"due":[83],"low":[86],"refresh":[87],"rate":[88],"high":[90],"latency":[91],"associated":[92],"with":[93,138],"signal":[95],"acquisition.":[96],"This":[97,118],"paper":[98],"proposes":[99],"demonstrates":[101],"method":[103],"commutation":[106],"based":[107],"interleaving":[109],"pulse":[110],"sequences":[111],"imaging":[114,142],"propulsion.":[117],"approach":[119],"shown":[121],"increase":[123],"velocity,":[127],"eliminate":[128],"slip,":[130],"enable":[132],"regulation":[133],"angle.":[136],"Experiments":[137],"produced":[144],"force":[147],"9.4":[149],"N.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
