{"id":"https://openalex.org/W1993086849","doi":"https://doi.org/10.1177/0278364914558006","title":"Five-degree-of-freedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy","display_name":"Five-degree-of-freedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy","publication_year":2015,"publication_date":"2015-02-16","ids":{"openalex":"https://openalex.org/W1993086849","doi":"https://doi.org/10.1177/0278364914558006","mag":"1993086849"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914558006","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914558006","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5111597897","display_name":"Arthur W. Mahoney","orcid":null},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Arthur W. Mahoney","raw_affiliation_strings":["School of Computing, University of Utah,\r        USA","[School of Computing, University of Utah, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, University of Utah,\r        USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"[School of Computing, University of Utah, USA]","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063340394","display_name":"Jake J. Abbott","orcid":"https://orcid.org/0000-0002-0665-1934"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jake J. Abbott","raw_affiliation_strings":["Department of Mechanical Engineering,\r        University of Utah, USA","Department of Mechanical Engineering,\r University of Utah, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering,\r        University of Utah, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"Department of Mechanical Engineering,\r University of Utah, USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5111597897"],"corresponding_institution_ids":["https://openalex.org/I223532165"],"apc_list":null,"apc_paid":null,"fwci":10.5541,"has_fulltext":false,"cited_by_count":273,"citation_normalized_percentile":{"value":0.98989424,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"35","issue":"1-3","first_page":"129","last_page":"147"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"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":0.988099992275238,"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":0.9824000000953674,"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/magnet","display_name":"Magnet","score":0.6376012563705444},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5578537583351135},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5576888918876648},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.5330713391304016},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5172520279884338},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4619700312614441},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.443067342042923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4040120542049408},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37806010246276855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2987176775932312},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.26255202293395996},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25483518838882446},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18501949310302734},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08569297194480896},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07022362947463989}],"concepts":[{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.6376012563705444},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5578537583351135},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5576888918876648},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.5330713391304016},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5172520279884338},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4619700312614441},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.443067342042923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4040120542049408},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37806010246276855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2987176775932312},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.26255202293395996},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25483518838882446},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18501949310302734},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08569297194480896},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07022362947463989},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364914558006","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914558006","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W406058028","https://openalex.org/W645502810","https://openalex.org/W1968415082","https://openalex.org/W1969591271","https://openalex.org/W1973333926","https://openalex.org/W1973850940","https://openalex.org/W1974888421","https://openalex.org/W1977840392","https://openalex.org/W1978158070","https://openalex.org/W1978202603","https://openalex.org/W1986132471","https://openalex.org/W1990416424","https://openalex.org/W1992102541","https://openalex.org/W1992269779","https://openalex.org/W1997101761","https://openalex.org/W1997650413","https://openalex.org/W2003052654","https://openalex.org/W2008051667","https://openalex.org/W2010789980","https://openalex.org/W2014863553","https://openalex.org/W2015705868","https://openalex.org/W2027263380","https://openalex.org/W2037424018","https://openalex.org/W2042039410","https://openalex.org/W2050317016","https://openalex.org/W2055573331","https://openalex.org/W2056454342","https://openalex.org/W2058544403","https://openalex.org/W2065989162","https://openalex.org/W2066448529","https://openalex.org/W2071330163","https://openalex.org/W2077133085","https://openalex.org/W2081263843","https://openalex.org/W2090061794","https://openalex.org/W2094796932","https://openalex.org/W2094904022","https://openalex.org/W2095474252","https://openalex.org/W2111708220","https://openalex.org/W2127404755","https://openalex.org/W2140571167","https://openalex.org/W2145029737","https://openalex.org/W2148828700","https://openalex.org/W2151922485","https://openalex.org/W2156441448","https://openalex.org/W2161168135","https://openalex.org/W2166532639","https://openalex.org/W2168006223","https://openalex.org/W2168046319","https://openalex.org/W2277000706","https://openalex.org/W2294944848","https://openalex.org/W2470971396","https://openalex.org/W2548391103","https://openalex.org/W2623660146","https://openalex.org/W2975861937","https://openalex.org/W3149800622","https://openalex.org/W4205362845","https://openalex.org/W4239021801","https://openalex.org/W4293055347","https://openalex.org/W4365799809"],"related_works":["https://openalex.org/W4214678870","https://openalex.org/W4323924603","https://openalex.org/W2222614663","https://openalex.org/W2349561638","https://openalex.org/W2536148680","https://openalex.org/W2145154791","https://openalex.org/W2906293295","https://openalex.org/W2245353192","https://openalex.org/W2573562027","https://openalex.org/W2973099332"],"abstract_inverted_index":{"This":[0],"paper":[1],"demonstrates":[2],"magnetic":[3,16,60,146,162],"three-degree-of-freedom":[4],"(3-DOF)":[5],"closed-loop":[6],"position":[7,40,85,115],"and":[8,75,86,101,151],"2-DOF":[9],"open-loop":[10],"orientation":[11],"control":[12,79,104,111,130],"of":[13,35,51,59,70,132,154,159],"a":[14,22,28,43,52,63,71,78,98,120,128],"mockup":[15],"capsule":[17,39,49],"endoscope":[18],"in":[19,48,97,143],"fluid":[20],"with":[21,46],"single":[23,64],"permanent":[24,65],"magnet":[25,66],"positioned":[26],"by":[27,42,168],"commercial":[29],"6-DOF":[30],"robotic":[31],"manipulator,":[32,74],"using":[33,62],"feedback":[34],"only":[36],"the":[37,57,68,83,92,106,113,117,124,144,152],"3-DOF":[38],"measured":[41],"localization":[44,136],"system,":[45],"application":[47],"endoscopy":[50],"fluid-distended":[53],"stomach.":[54],"We":[55,122],"analyze":[56],"kinematics":[58],"manipulation":[61,158],"as":[67],"end-effector":[69],"serial-link":[72],"robot":[73,93],"we":[76],"formulate":[77],"method":[80],"that":[81,102,149],"enables":[82],"capsule\u2019s":[84,107,114],"direction":[87,108],"to":[88,109,127,139],"be":[89],"controlled":[90],"when":[91,116],"manipulator":[94,118,155],"is":[95],"not":[96],"kinematic":[99],"singularity,":[100],"sacrifices":[103],"over":[105,112],"maintain":[110],"enters":[119],"singularity.":[121],"demonstrate":[123],"method\u2019s":[125],"robustness":[126],"reduced":[129,135],"rate":[131],"25":[133],"Hz,":[134,141],"rates":[137],"down":[138],"30":[140],"deviation":[142],"applied":[145],"field":[147],"from":[148],"expected,":[150],"presence":[153],"singularities.":[156],"Five-DOF":[157],"an":[160],"untethered":[161],"device":[163],"has":[164],"been":[165],"previously":[166],"demonstrated":[167],"electromagnetic":[169],"systems":[170],"only.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":14},{"year":2025,"cited_by_count":31},{"year":2024,"cited_by_count":29},{"year":2023,"cited_by_count":32},{"year":2022,"cited_by_count":41},{"year":2021,"cited_by_count":29},{"year":2020,"cited_by_count":24},{"year":2019,"cited_by_count":23},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}