{"id":"https://openalex.org/W2783524862","doi":"https://doi.org/10.1109/tro.2017.2783937","title":"Ultrahigh-Precision Rotational Positioning Under a Microscope: Nanorobotic System, Modeling, Control, and Applications","display_name":"Ultrahigh-Precision Rotational Positioning Under a Microscope: Nanorobotic System, Modeling, Control, and Applications","publication_year":2018,"publication_date":"2018-01-12","ids":{"openalex":"https://openalex.org/W2783524862","doi":"https://doi.org/10.1109/tro.2017.2783937","mag":"2783524862"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2783937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2783937","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/A5057948288","display_name":"Haojian Lu","orcid":"https://orcid.org/0000-0002-1393-3040"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]}],"countries":["CN","HK"],"is_corresponding":true,"raw_author_name":"Haojian Lu","raw_affiliation_strings":["City University of Hong Kong\u2013Shenzhen Research Institute, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong\u2013Shenzhen Research Institute, Shenzhen, China","institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4210105229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053307968","display_name":"Wanfeng Shang","orcid":"https://orcid.org/0000-0002-3256-3268"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wanfeng Shang","raw_affiliation_strings":["Shenzhen Institute of Geriatrics, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Geriatrics, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100692141","display_name":"Hui Xie","orcid":"https://orcid.org/0000-0003-4299-2776"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Xie","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035206248","display_name":"Yajing Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yajing Shen","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057948288"],"corresponding_institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4210105229"],"apc_list":null,"apc_paid":null,"fwci":6.5576,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.97426046,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"34","issue":"2","first_page":"497","last_page":"507"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9993000030517578,"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/positioning-system","display_name":"Positioning system","score":0.6405741572380066},{"id":"https://openalex.org/keywords/characterization","display_name":"Characterization (materials science)","score":0.5435466766357422},{"id":"https://openalex.org/keywords/eccentricity","display_name":"Eccentricity (behavior)","score":0.4864042103290558},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46848949790000916},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.46323201060295105},{"id":"https://openalex.org/keywords/microscope","display_name":"Microscope","score":0.45501911640167236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44877657294273376},{"id":"https://openalex.org/keywords/rotational-speed","display_name":"Rotational speed","score":0.4475367069244385},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.44164878129959106},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.44070056080818176},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.4261385202407837},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3379395008087158},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.32551196217536926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29272839426994324},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.27976739406585693},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.26054084300994873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23579269647598267},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.23510566353797913},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.21845486760139465},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1965271234512329},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.19452139735221863},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09728062152862549}],"concepts":[{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.6405741572380066},{"id":"https://openalex.org/C2780841128","wikidata":"https://www.wikidata.org/wiki/Q5073781","display_name":"Characterization (materials science)","level":2,"score":0.5435466766357422},{"id":"https://openalex.org/C190538878","wikidata":"https://www.wikidata.org/wiki/Q50013","display_name":"Eccentricity (behavior)","level":2,"score":0.4864042103290558},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46848949790000916},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.46323201060295105},{"id":"https://openalex.org/C67649825","wikidata":"https://www.wikidata.org/wiki/Q196538","display_name":"Microscope","level":2,"score":0.45501911640167236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44877657294273376},{"id":"https://openalex.org/C81063470","wikidata":"https://www.wikidata.org/wiki/Q1256787","display_name":"Rotational speed","level":2,"score":0.4475367069244385},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.44164878129959106},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.44070056080818176},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.4261385202407837},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3379395008087158},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.32551196217536926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29272839426994324},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27976739406585693},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26054084300994873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23579269647598267},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.23510566353797913},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.21845486760139465},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1965271234512329},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.19452139735221863},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09728062152862549},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2017.2783937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2783937","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:repository.hkust.edu.hk:1783.1-119805","is_oa":false,"landing_page_url":"http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=LinksAMR&SrcApp=PARTNER_APP&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000430595400015","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1927345864","https://openalex.org/W1934567899","https://openalex.org/W1972115704","https://openalex.org/W1991731904","https://openalex.org/W2005471937","https://openalex.org/W2034208903","https://openalex.org/W2109706025","https://openalex.org/W2131881600","https://openalex.org/W2139735688","https://openalex.org/W2162729714","https://openalex.org/W2208700947","https://openalex.org/W2279912946","https://openalex.org/W2331382291","https://openalex.org/W2472743159","https://openalex.org/W2519982592","https://openalex.org/W2549208909","https://openalex.org/W2558645926","https://openalex.org/W2567807935","https://openalex.org/W2607512581"],"related_works":["https://openalex.org/W2080331776","https://openalex.org/W161603712","https://openalex.org/W2045478930","https://openalex.org/W2320805319","https://openalex.org/W1490629594","https://openalex.org/W1984747759","https://openalex.org/W2744582151","https://openalex.org/W2542030311","https://openalex.org/W2317089724","https://openalex.org/W2364415336"],"abstract_inverted_index":{"High-precision":[0],"positioning":[1,29,98,157],"is":[2,32,63,70,79,162],"an":[3],"essential":[4],"requirement":[5],"for":[6,23,153],"sample":[7],"operation":[8],"at":[9,109,158],"a":[10,42,74,150,166],"small":[11],"scale.":[12],"At":[13],"the":[14,24,27,53,61,84,96,116,128,154,170],"current":[15,117],"stage,":[16],"although":[17],"nanometer-scale":[18],"accuracy":[19,99],"has":[20],"been":[21],"achieved":[22],"linear":[25],"positioning,":[26],"rotational":[28,47,97,156],"(attitude":[30],"control)":[31],"still":[33],"very":[34],"challenging":[35],"and":[36,66,91,139,178],"rarely":[37],"addressed.":[38],"This":[39,147],"paper":[40],"presents":[41],"rotatable":[43],"nanorobotic":[44],"system":[45,54],"with":[46],"degrees":[48],"of":[49,60,113,130,144],"freedom":[50],"first.":[51],"Then,":[52],"error,":[55],"i.e.,":[56,133],"nonaxisymmetrical":[57],"eccentricity":[58],"error":[59],"mechanism,":[62],"investigated":[64],"dynamically":[65],"its":[67],"fault":[68],"model":[69],"established.":[71],"After":[72],"that,":[73],"double-loop":[75],"servo":[76],"repetitive":[77],"controller":[78],"accordingly":[80],"designed":[81],"based":[82],"on":[83,169],"circle":[85],"interpolation":[86],"strategy.":[87],"The":[88],"theoretical":[89],"analysis":[90],"experimental":[92],"results":[93],"verify":[94],"that":[95],"can":[100],"be":[101],"controlled":[102],"up":[103],"to":[104,126,164],"submicrometers":[105],"stably,":[106],"which":[107,161],"improves":[108],"least":[110],"one":[111],"order":[112],"magnitude":[114],"than":[115],"static":[118],"method.":[119],"Finally,":[120],"two":[121],"application":[122],"cases":[123],"are":[124],"given":[125],"highlight":[127],"significance":[129],"this":[131],"approach,":[132],"surface":[134],"defect":[135],"detection":[136],"from":[137],"360\u00b0":[138],"in":[140],"situ":[141],"twisting":[142],"characterization":[143],"1-D":[145],"micro/nanomaterial.":[146],"research":[148],"paves":[149],"new":[151],"avenue":[152],"ultrahigh":[155],"microscopy":[159,174],"environment,":[160],"expected":[163],"generate":[165],"long-term":[167],"impact":[168],"micro/nanofields,":[171],"such":[172],"as":[173],"imaging,":[175],"material":[176],"characterization,":[177],"so":[179],"on.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
