{"id":"https://openalex.org/W2972115561","doi":"https://doi.org/10.1109/tro.2019.2934712","title":"Elevation and Azimuth Rotational Actuation of an Untethered Millirobot by MRI Gradient Coils","display_name":"Elevation and Azimuth Rotational Actuation of an Untethered Millirobot by MRI Gradient Coils","publication_year":2019,"publication_date":"2019-09-05","ids":{"openalex":"https://openalex.org/W2972115561","doi":"https://doi.org/10.1109/tro.2019.2934712","mag":"2972115561"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2019.2934712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2934712","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":true,"oa_status":"green","oa_url":"https://digitalcommons.lsu.edu/mechanical_engineering_pubs/51","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071310773","display_name":"\u00d6nder Erin","orcid":"https://orcid.org/0000-0002-2306-2664"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"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":["DE","US"],"is_corresponding":true,"raw_author_name":"Onder Erin","raw_affiliation_strings":["Mechanical Engineering Department, Carnegie Mellon University, Pittsburgh, USA","Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025215159","display_name":"Hunter B. Gilbert","orcid":"https://orcid.org/0000-0001-8590-2596"},"institutions":[{"id":"https://openalex.org/I121820613","display_name":"Louisiana State University","ror":"https://ror.org/05ect4e57","country_code":"US","type":"education","lineage":["https://openalex.org/I121820613"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Hunter B. Gilbert","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Louisiana State University and A&M College, Baton Rouge, USA","Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Louisiana State University and A&M College, Baton Rouge, USA","institution_ids":["https://openalex.org/I121820613"]},{"raw_affiliation_string":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024661142","display_name":"Ahmet Fatih Tabak","orcid":"https://orcid.org/0000-0003-3311-6942"},"institutions":[{"id":"https://openalex.org/I128277893","display_name":"Bah\u00e7e\u015fehir University","ror":"https://ror.org/00yze4d93","country_code":"TR","type":"education","lineage":["https://openalex.org/I128277893"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","TR"],"is_corresponding":false,"raw_author_name":"Ahmet Fatih Tabak","raw_affiliation_strings":["Department of Mechatronics Engineering, Bahcesehir University, Istanbul, Turkey","Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Bahcesehir University, Istanbul, Turkey","institution_ids":["https://openalex.org/I128277893"]},{"raw_affiliation_string":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079968392","display_name":"Metin Sitti","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"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":["DE","US"],"is_corresponding":false,"raw_author_name":"Metin Sitti","raw_affiliation_strings":["Mechanical Engineering Department, Carnegie Mellon University, Pittsburgh, USA","Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071310773"],"corresponding_institution_ids":["https://openalex.org/I4210135521","https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":4.2291,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.94535672,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"35","issue":"6","first_page":"1323","last_page":"1337"},"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/T12405","display_name":"Characterization and Applications of Magnetic Nanoparticles","score":0.9977999925613403,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.992900013923645,"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/electromagnetic-coil","display_name":"Electromagnetic coil","score":0.5788301825523376},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5634375214576721},{"id":"https://openalex.org/keywords/azimuth","display_name":"Azimuth","score":0.5522027611732483},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5276856422424316},{"id":"https://openalex.org/keywords/magnetic-resonance-imaging","display_name":"Magnetic resonance imaging","score":0.5144896507263184},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.4882078468799591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4559091627597809},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4434528350830078},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.42042413353919983},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3278118371963501},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29592373967170715},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25042450428009033},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.24227777123451233},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.21768784523010254}],"concepts":[{"id":"https://openalex.org/C30403606","wikidata":"https://www.wikidata.org/wiki/Q2981904","display_name":"Electromagnetic coil","level":2,"score":0.5788301825523376},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5634375214576721},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.5522027611732483},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5276856422424316},{"id":"https://openalex.org/C143409427","wikidata":"https://www.wikidata.org/wiki/Q161238","display_name":"Magnetic resonance imaging","level":2,"score":0.5144896507263184},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.4882078468799591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4559091627597809},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4434528350830078},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.42042413353919983},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3278118371963501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29592373967170715},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25042450428009033},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.24227777123451233},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.21768784523010254},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2019.2934712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2934712","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:digitalcommons.lsu.edu:mechanical_engineering_pubs-1050","is_oa":true,"landing_page_url":"https://digitalcommons.lsu.edu/mechanical_engineering_pubs/51","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"},{"id":"pmh:oai:pure.mpg.de:item_3245169","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0006-C1B3-5","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"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","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:repository.lsu.edu:mechanical_engineering_pubs-1050","is_oa":true,"landing_page_url":"https://repository.lsu.edu/mechanical_engineering_pubs/51","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:digitalcommons.lsu.edu:mechanical_engineering_pubs-1050","is_oa":true,"landing_page_url":"https://digitalcommons.lsu.edu/mechanical_engineering_pubs/51","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","score":0.6200000047683716,"display_name":"Good health and well-being"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308269","display_name":"Alexander von Humboldt-Stiftung","ror":"https://ror.org/012kf4317"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W152290553","https://openalex.org/W641642611","https://openalex.org/W1481505700","https://openalex.org/W1490766191","https://openalex.org/W1577142055","https://openalex.org/W1968245896","https://openalex.org/W1970695058","https://openalex.org/W1971044547","https://openalex.org/W1994418635","https://openalex.org/W1999930209","https://openalex.org/W2003105834","https://openalex.org/W2007453190","https://openalex.org/W2012159360","https://openalex.org/W2018254475","https://openalex.org/W2021639893","https://openalex.org/W2037424018","https://openalex.org/W2042039410","https://openalex.org/W2049220874","https://openalex.org/W2049978855","https://openalex.org/W2061741654","https://openalex.org/W2079679611","https://openalex.org/W2087826881","https://openalex.org/W2088592827","https://openalex.org/W2093098527","https://openalex.org/W2099388669","https://openalex.org/W2099745446","https://openalex.org/W2101782398","https://openalex.org/W2106586754","https://openalex.org/W2118613556","https://openalex.org/W2120366310","https://openalex.org/W2120851686","https://openalex.org/W2122394872","https://openalex.org/W2134771719","https://openalex.org/W2137273166","https://openalex.org/W2141394615","https://openalex.org/W2149112153","https://openalex.org/W2157760711","https://openalex.org/W2167105507","https://openalex.org/W2315065769","https://openalex.org/W2316793173","https://openalex.org/W2338474404","https://openalex.org/W2345721952","https://openalex.org/W2409002706","https://openalex.org/W2526011581","https://openalex.org/W2527610710","https://openalex.org/W2738357092","https://openalex.org/W2746527205","https://openalex.org/W2785110060","https://openalex.org/W2787690100","https://openalex.org/W4285719527","https://openalex.org/W6642962755","https://openalex.org/W6713867178","https://openalex.org/W6742693411"],"related_works":["https://openalex.org/W3006474185","https://openalex.org/W2483195039","https://openalex.org/W2281797687","https://openalex.org/W2358411735","https://openalex.org/W2048211457","https://openalex.org/W4250650723","https://openalex.org/W2611761074","https://openalex.org/W2358598243","https://openalex.org/W2331534598","https://openalex.org/W2313632216"],"abstract_inverted_index":{"Magnetic":[0],"resonance":[1],"imaging":[2],"(MRI)":[3],"devices":[4],"provide":[5],"magnetic":[6,16,47,55,58,82,94,110,121],"field":[7],"gradients,":[8],"which":[9,71],"can":[10,113],"be":[11],"used":[12],"to":[13,36,92,168],"remotely":[14],"actuate":[15],"robots":[17,89],"that":[18,49,112],"may":[19],"one":[20],"day":[21],"carry":[22],"out":[23],"medical":[24],"tasks,":[25],"such":[26],"as":[27],"diagnosis,":[28],"drug":[29],"delivery,":[30],"or":[31],"therapeutic-laser-based":[32],"procedures,":[33],"in":[34,44,96,115,120,125],"addition":[35],"the":[37,57,67,73,85],"high-resolution":[38],"tissue":[39],"images":[40],"for":[41,54,69,81,107],"diagnosis.":[42],"However,":[43],"comparison":[45],"with":[46,174],"systems":[48],"are":[50,90,149,191],"custom":[51],"designed":[52],"solely":[53],"actuation,":[56],"environment":[59],"of":[60,75,78,132,144,160,166,171,178,187],"an":[61,108],"MRI":[62,126,139],"device":[63],"is":[64],"constrained":[65],"by":[66],"requirements":[68],"imaging,":[70],"reduces":[72],"number":[74],"active":[76],"degrees":[77],"freedom":[79],"available":[80,138],"actuation.":[83],"Moreover,":[84],"current":[86],"MRI-powered":[87],"untethered":[88,109],"limited":[91],"translational":[93],"pulling":[95],"three":[97],"dimensions":[98],"only.":[99],"In":[100],"this":[101],"article,":[102],"we":[103],"propose":[104],"a":[105,116,136],"design":[106,153],"robot":[111,134,147,189],"rotate":[114],"three-dimensional":[117],"liquid":[118],"volume":[119],"environments,":[122],"like":[123],"those":[124],"devices.":[127],"We":[128],"demonstrate":[129],"rotational":[130,161],"actuation":[131],"our":[133],"inside":[135],"commercially":[137],"gradient":[140],"coil.":[141],"Two":[142],"kinds":[143],"near-neutrally":[145],"buoyant":[146],"designs":[148,190],"proposed,":[150],"where":[151],"each":[152],"has":[154],"particular":[155],"advantages.":[156],"Design":[157],"methodologies,":[158],"analysis":[159],"performance,":[162],"closed-loop":[163],"orientation":[164,172],"control":[165,184],"up":[167],"2.51":[169],"rad":[170],"change":[173],"maximum":[175],"net":[176],"displacement":[177],"18.4":[179],"mm,":[180],"and":[181],"angular":[182],"velocity":[183],"(0.2-0.63":[185],"rad/s)":[186],"these":[188],"presented.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
