{"id":"https://openalex.org/W4407736320","doi":"https://doi.org/10.1109/tro.2025.3543261","title":"Ultrasound Image-Based Average $Q$-Learning Control of Magnetic Microrobots","display_name":"Ultrasound Image-Based Average $Q$-Learning Control of Magnetic Microrobots","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4407736320","doi":"https://doi.org/10.1109/tro.2025.3543261"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3543261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3543261","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5079510458","display_name":"Jia Liu","orcid":"https://orcid.org/0000-0003-2363-8798"},"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/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":"Jia Liu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2363-8798","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051675820","display_name":"Guoyao Ma","orcid":"https://orcid.org/0000-0002-6302-8356"},"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/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":"Guoyao Ma","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-6302-8356","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057655198","display_name":"Shixiong Fu","orcid":"https://orcid.org/0000-0001-6501-0670"},"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/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":"Shixiong Fu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-6501-0670","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024367932","display_name":"Chenyang Huang","orcid":"https://orcid.org/0000-0001-7424-5332"},"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/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":"Chenyang Huang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-7424-5332","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","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/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, 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, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"last","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/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":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8974-4572","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.7495,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96995927,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"1728","last_page":"1741"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9991000294685364,"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":0.9991000294685364,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9886999726295471,"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/T12405","display_name":"Characterization and Applications of Magnetic Nanoparticles","score":0.9884999990463257,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.5328149199485779},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5321074724197388},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.48290014266967773},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.4579876661300659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44937682151794434},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.33890974521636963},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.26699328422546387},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.2619248926639557}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5328149199485779},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5321074724197388},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.48290014266967773},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.4579876661300659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44937682151794434},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.33890974521636963},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.26699328422546387},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2619248926639557}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3543261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3543261","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.550000011920929}],"awards":[{"id":"https://openalex.org/G2021648200","display_name":null,"funder_award_id":"62473357","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2526020476","display_name":null,"funder_award_id":"62003328","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G285976781","display_name":null,"funder_award_id":"62125307","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3587908381","display_name":null,"funder_award_id":"2022B1515120010","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G6547727834","display_name":null,"funder_award_id":"U22A2064","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1980035368","https://openalex.org/W1989222064","https://openalex.org/W2049220874","https://openalex.org/W2144063905","https://openalex.org/W2154844948","https://openalex.org/W2155629668","https://openalex.org/W2159956441","https://openalex.org/W2808421695","https://openalex.org/W3002176620","https://openalex.org/W3016536947","https://openalex.org/W3036440991","https://openalex.org/W3042227533","https://openalex.org/W3115655403","https://openalex.org/W3154141950","https://openalex.org/W3165507109","https://openalex.org/W3168491317","https://openalex.org/W3215888518","https://openalex.org/W4200143469","https://openalex.org/W4206275947","https://openalex.org/W4210656112","https://openalex.org/W4214834979","https://openalex.org/W4220901398","https://openalex.org/W4225807762","https://openalex.org/W4225975117","https://openalex.org/W4226502905","https://openalex.org/W4285102182","https://openalex.org/W4285728334","https://openalex.org/W4312766364","https://openalex.org/W4317583728","https://openalex.org/W4323022362","https://openalex.org/W4323519625","https://openalex.org/W4387010303","https://openalex.org/W4390577985","https://openalex.org/W4392932636","https://openalex.org/W4402207581","https://openalex.org/W6602057636","https://openalex.org/W6677067356"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Magnetic":[0],"microrobots":[1,44,273],"have":[2],"garnered":[3],"significant":[4,21],"attention":[5],"and":[6,65,69,79,116,141,224],"hold":[7],"great":[8],"potential":[9],"for":[10,34,76,253],"biomedical":[11,49],"research":[12],"applications.":[13,50,276],"However,":[14],"achieving":[15,243],"precise":[16,54,244,269],"manipulation":[17,270],"in":[18,24,48,242,274],"vivo":[19,275],"poses":[20],"challenges,":[22],"particularly":[23],"medical":[25,251,267],"image-based":[26,268],"real-time":[27,90,247],"feedback":[28],"control,":[29],"because":[30],"it":[31,59],"is":[32,60,150,184],"difficult":[33],"a":[35,67,88,103,113,117,124,166,173,181,199,260],"visual":[36],"camera":[37],"to":[38,63,107,151,172,186],"track":[39],"the":[40,46,53,98,154,157,188,214,217,234,237,264],"motion":[41],"of":[42,56,156,191,216,233,239,266,271],"magnetic":[43,57,254,272],"inside":[45],"body":[47],"To":[51,177,212],"realize":[52],"control":[55,71,81,91,111,175,219,248],"microrobots,":[58],"also":[61],"necessary":[62],"design":[64],"implement":[66],"simple":[68,110,159,193],"powerful":[70,174],"method.":[72],"This":[73],"approach":[74,106,241],"allows":[75],"avoiding":[77],"resource-intensive":[78],"complex":[80],"strategies.":[82],"In":[83,195],"this":[84,257],"article,":[85],"we":[86,101,197,221],"present":[87],"learning-based":[89],"method":[92,130],"utilizing":[93],"ultrasound":[94],"images.":[95],"Inspired":[96],"by":[97,204],"ADboost":[99],"concept,":[100],"use":[102],"reinforcement":[104],"learning":[105],"integrate":[108],"two":[109],"methods:":[112],"proportional-integral-derivative":[114],"controller":[115,163],"guiding":[118],"vector":[119],"field":[120,265],"controller.":[121],"We":[122],"develop":[123],"novel":[125],"<inline-formula":[126,133,142],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[127,134,143],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[128,135,144],"notation=\"LaTeX\">$Q$</tex-math></inline-formula>-learning":[129,136],"called":[131],"average":[132,139],"that":[137],"incorporates":[138],"operation":[140],"notation=\"LaTeX\">$n$</tex-math></inline-formula>-step":[145],"bootstraps.":[146],"Its":[147],"primary":[148],"objective":[149],"dynamically":[152],"adjust":[153],"outputs":[155],"different":[158],"controllers.":[160,194],"While":[161],"each":[162],"individually":[164],"offers":[165],"straightforward":[167],"solution,":[168],"their":[169],"integration":[170,189],"contributes":[171],"approach.":[176],"demonstrate":[178],"its":[179],"scalability,":[180],"nonsmooth":[182],"path":[183],"utilized":[185],"investigate":[187],"performance":[190],"three":[192],"addition,":[196],"enhance":[198],"classic":[200],"segmentation":[201],"module,":[202],"U-net,":[203],"incorporating":[205],"an":[206],"atrous":[207],"spatial":[208],"pyramid":[209],"pooling":[210],"module.":[211],"validate":[213],"effectiveness":[215],"proposed":[218],"method,":[220],"conduct":[222],"simulations":[223],"experiments":[225],"using":[226],"various":[227],"planar":[228],"paths.":[229],"The":[230],"quantitative":[231],"analysis":[232],"results":[235],"demonstrates":[236],"efficacy":[238],"our":[240],"manipulation,":[245],"leveraging":[246],"based":[249],"on":[250],"images":[252],"microrobots.":[255],"Overall,":[256],"study":[258],"provides":[259],"preliminary":[261],"investigation":[262],"into":[263]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":4}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}