{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T14:14:56Z","timestamp":1740147296852,"version":"3.37.3"},"reference-count":28,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100000001","name":"national science foundation","doi-asserted-by":"publisher","award":["CMMI #1712096","CMMI #1761060"],"award-info":[{"award-number":["CMMI #1712096","CMMI #1761060"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"national science foundation","doi-asserted-by":"publisher","award":["CNS #1618369"],"award-info":[{"award-number":["CNS #1618369"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2022,4]]},"DOI":"10.1007\/s11370-022-00421-x","type":"journal-article","created":{"date-parts":[[2022,4,30]],"date-time":"2022-04-30T09:02:49Z","timestamp":1651309369000},"page":"215-230","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Ensemble control of spatial variance of microbot systems through sequencing of motion primitives from optimal control trajectories"],"prefix":"10.1007","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6426-895X","authenticated-orcid":false,"given":"Neelanga","family":"Thelasingha","sequence":"first","affiliation":[]},{"given":"A Agung","family":"Julius","sequence":"additional","affiliation":[]},{"given":"Min Jun","family":"Kim","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,4,30]]},"reference":[{"issue":"2","key":"421_CR1","doi-asserted-by":"publisher","first-page":"92","DOI":"10.1109\/MRA.2007.380641","volume":"14","author":"JJ Abbott","year":"2007","unstructured":"Abbott JJ, Nagy Z, Beyeler F, Nelson BJ (2007) Robotics in the small, part i: microbotics. IEEE Robotics Autom Magaz 14(2):92\u2013103","journal-title":"IEEE Robotics Autom Magaz"},{"key":"421_CR2","doi-asserted-by":"publisher","unstructured":"Becker A, Habibi G, Werfel J, Rubenstein M, McLurkin J (2013) Massive uniform manipulation: Controlling large populations of simple robots with a common input signal. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems 520\u2013527. https:\/\/doi.org\/10.1109\/IROS.2013.6696401","DOI":"10.1109\/IROS.2013.6696401"},{"key":"421_CR3","doi-asserted-by":"publisher","unstructured":"Cohen BJ, Chitta S, Likhachev M (2010) Search-based planning for manipulation with motion primitives. In: IEEE International Conference on Robotics and Automation 2902\u20132908. https:\/\/doi.org\/10.1109\/ROBOT.2010.5509685","DOI":"10.1109\/ROBOT.2010.5509685"},{"issue":"1","key":"421_CR4","doi-asserted-by":"publisher","first-page":"172","DOI":"10.1109\/TRO.2011.2170330","volume":"28","author":"E Diller","year":"2012","unstructured":"Diller E, Floyd S, Pawashe C, Sitti M (2012) Control of multiple heterogeneous magnetic microrobots in two dimensions on nonspecialized surfaces. IEEE Trans. Robotics 28(1):172\u2013182. https:\/\/doi.org\/10.1109\/TRO.2011.2170330","journal-title":"IEEE Trans. Robotics"},{"issue":"2","key":"421_CR5","doi-asserted-by":"publisher","first-page":"321","DOI":"10.1109\/TMECH.2004.828655","volume":"9","author":"A Ferreira","year":"2004","unstructured":"Ferreira A, Cassier C, Hirai S (2004) Automatic microassembly system assisted by vision servoing and virtual reality. IEEE\/ASME Trans. Mechatron. 9(2):321\u2013333","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"421_CR6","doi-asserted-by":"crossref","unstructured":"Gauthier M, Regnier S (2011) Robotic Microassembly. John Wiley & Sons","DOI":"10.1002\/9780470634417"},{"key":"421_CR7","doi-asserted-by":"publisher","first-page":"267","DOI":"10.1613\/jair.2096","volume":"28","author":"EA Hansen","year":"2007","unstructured":"Hansen EA, Zhou R (2007) Anytime heuristic search. J Art Intell Res 28:267\u2013297. https:\/\/doi.org\/10.1613\/jair.2096","journal-title":"J Art Intell Res"},{"issue":"2","key":"421_CR8","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1109\/tssc.1968.300136","volume":"4","author":"P Hart","year":"1968","unstructured":"Hart P, Nilsson N, Raphael B (1968) A formal basis for the heuristic determination of minimum cost paths. IEEE Trans Syst Sci Cybern 4(2):100\u2013107. https:\/\/doi.org\/10.1109\/tssc.1968.300136","journal-title":"IEEE Trans Syst Sci Cybern"},{"key":"421_CR9","doi-asserted-by":"crossref","unstructured":"Julius AA, Sakar MS, Steager E, Cheang UK, Kim M, Kumar V, Pappas GJ (2009) Harnessing bacterial power in microscale actuation. In: IEEE International Conference on Robotics and Automation, pp. 1004\u20131009 . 10.1109\/ROBOT.2009.5152631","DOI":"10.1109\/ROBOT.2009.5152631"},{"issue":"11","key":"421_CR10","doi-asserted-by":"publisher","DOI":"10.1063\/1.3257167","volume":"106","author":"M Kharboutly","year":"2009","unstructured":"Kharboutly M, Gauthier M, Chaillet N (2009) Modeling the trajectory of a microparticle in a dielectrophoresis device. J Appl Phys 106(11):114312","journal-title":"J Appl Phys"},{"issue":"1063","key":"421_CR11","first-page":"3497275","volume":"10","author":"DH Kim","year":"2010","unstructured":"Kim DH, Cheang UK, K\u0151hidai L, Byun D, Kim MJ (2010) Artificial magnetotactic motion control of tetrahymena pyriformis using ferromagnetic nanoparticles: a tool for fabrication of microbiorobots. Appl Phys Lett 10(1063):3497275","journal-title":"Appl Phys Lett"},{"key":"421_CR12","doi-asserted-by":"crossref","unstructured":"Kim PSS, Becker AT, Ou Y, Kim DH, Julius AA, Kim M (2017) Magnetic swarm control of microorganisms. In: Microbiorobotics, second edition edn., pp. 221\u2013243. Elsevier, Boston https:\/\/doi.org\/10.1016\/B978-0-32-342993-1.00018-5","DOI":"10.1016\/B978-0-32-342993-1.00018-5"},{"issue":"3","key":"421_CR13","doi-asserted-by":"publisher","first-page":"330","DOI":"10.1177\/0278364911426178","volume":"31","author":"D Kuli\u0107","year":"2012","unstructured":"Kuli\u0107 D, Ott C, Lee D, Ishikawa J, Nakamura Y (2012) Incremental learning of full body motion primitives and their sequencing through human motion observation. The Int J Robotics Res 31(3):330\u2013345. https:\/\/doi.org\/10.1177\/0278364911426178","journal-title":"The Int J Robotics Res"},{"key":"421_CR14","doi-asserted-by":"crossref","unstructured":"Lewis F, Vrabie D, Syrmos V (2012) Optimal control of discrete-time systems, chap.\u00a02, pp. 19\u2013109. John Wiley & Sons, Ltd . https:\/\/doi.org\/10.1002\/9781118122631.ch2","DOI":"10.1002\/9781118122631.ch2"},{"key":"421_CR15","unstructured":"Liew LA, Bright V, Dunn M, Daily J, Raj R.: Development of sicn ceramic thermal actuators. Technical Digest. IEEE International Conference on Micro Electro-Mechanical Systems 10.1109\/memsys.2002.984340"},{"issue":"1","key":"421_CR16","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1146\/annurev-bioeng-010510-103409","volume":"12","author":"BJ Nelson","year":"2010","unstructured":"Nelson BJ, Kaliakatsos IK, Abbott JJ (2010) Microrobots for minimally invasive medicine. Ann Rev Biomed Eng 12(1):55\u201385. https:\/\/doi.org\/10.1146\/annurev-bioeng-010510-103409","journal-title":"Ann Rev Biomed Eng"},{"issue":"1","key":"421_CR17","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1177\/0278364912464669","volume":"32","author":"Y Ou","year":"2012","unstructured":"Ou Y, Kim DH, Kim P, Kim MJ, Julius AA (2012) Motion control of magnetized tetrahymena pyriformis cells by a magnetic field with model predictive control. The Int J Robotics Res 32(1):129\u2013140. https:\/\/doi.org\/10.1177\/0278364912464669","journal-title":"The Int J Robotics Res"},{"key":"421_CR18","doi-asserted-by":"publisher","unstructured":"Pearson K (1901) On lines and planes of closest fit to systems of points in space. The London, Edinburgh, and Dublin Philosophical Magazine and Journal of Science 2(11):559\u2013572. https:\/\/doi.org\/10.1080\/14786440109462720","DOI":"10.1080\/14786440109462720"},{"key":"421_CR19","doi-asserted-by":"crossref","unstructured":"Pivtoraiko M, Kelly A (2011) Kinodynamic motion planning with state lattice motion primitives. In: 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2172\u20132179 . 10.1109\/IROS.2011.6094900","DOI":"10.1109\/IROS.2011.6094900"},{"issue":"10","key":"421_CR20","doi-asserted-by":"publisher","first-page":"463","DOI":"10.1016\/S1369-7021(12)70201-8","volume":"15","author":"F Qiu","year":"2012","unstructured":"Qiu F, Zhang L, Tottori S, Marquardt K, Krawczyk K, Franco-Obreg\u00f3n A, Nelson BJ (2012) Bio-inspired microrobots. Mater Today 15(10):463","journal-title":"Mater Today"},{"key":"421_CR21","doi-asserted-by":"publisher","DOI":"10.1063\/1.3293457","volume":"96","author":"MS Sakar","year":"2010","unstructured":"Sakar MS, Steager EB, Kim DH, Kim MJ, Pappas GJ, Kumar V (2010) Single cell manipulation using ferromagnetic composite microtransporters. Appl Phys Lett 96:043705. https:\/\/doi.org\/10.1063\/1.3293457","journal-title":"Appl Phys Lett"},{"issue":"1","key":"421_CR22","doi-asserted-by":"publisher","first-page":"207","DOI":"10.1109\/tro.2017.2769094","volume":"34","author":"S Shahrokhi","year":"2018","unstructured":"Shahrokhi S, Lin L, Ertel C, Wan M, Becker AT (2018) Steering a swarm of particles using global inputs and swarm statistics. IEEE Trans Robotics 34(1):207\u2013219. https:\/\/doi.org\/10.1109\/tro.2017.2769094","journal-title":"IEEE Trans Robotics"},{"issue":"3","key":"421_CR23","doi-asserted-by":"publisher","DOI":"10.1088\/0960-1317\/21\/3\/035001","volume":"21","author":"EB Steager","year":"2011","unstructured":"Steager EB, Sakar MS, Kim DH, Kumar V, Pappas GJ, Kim MJ (2011) Electrokinetic and optical control of bacterial microrobots. J Micromech Microeng 21(3):035001. https:\/\/doi.org\/10.1088\/0960-1317\/21\/3\/035001","journal-title":"J Micromech Microeng"},{"issue":"6","key":"421_CR24","doi-asserted-by":"publisher","first-page":"1360","DOI":"10.1109\/TRO.2012.2210294","volume":"28","author":"F Stulp","year":"2012","unstructured":"Stulp F, Theodorou EA, Schaal S (2012) Reinforcement learning with sequences of motion primitives for robust manipulation. IEEE Trans Robotics 28(6):1360\u20131370. https:\/\/doi.org\/10.1109\/TRO.2012.2210294","journal-title":"IEEE Trans Robotics"},{"issue":"6","key":"421_CR25","doi-asserted-by":"publisher","first-page":"997","DOI":"10.1007\/s10544-013-9791-7","volume":"15","author":"M Suter","year":"2013","unstructured":"Suter M, Zhang L, Siringil EC, Peters C, Luehmann T, Ergeneman O, Peyer KE, Nelson BJ, Hierold C (2013) Superparamagnetic microrobots: fabrication by two-photon polymerization and biocompatibility. Biomed Microdev 15(6):997\u20131003","journal-title":"Biomed Microdev"},{"key":"421_CR26","doi-asserted-by":"crossref","unstructured":"Truper T, Kortschack A, Jahnisch M, Hulsen H, Fatikow S (2004) Transporting cells with mobile microrobots. In: IEE Proceedings-Nanobiotechnology 151:145\u2013150","DOI":"10.1049\/ip-nbt:20040839"},{"issue":"9","key":"421_CR27","doi-asserted-by":"publisher","first-page":"1346","DOI":"10.3390\/mi6091346","volume":"6","author":"T Xu","year":"2015","unstructured":"Xu T, Yu J, Yan X, Choi H, Zhang L (2015) Magnetic actuation based motion control for microrobots: an overview. Micromachines 6(9):1346\u20131364","journal-title":"Micromachines"},{"issue":"3","key":"421_CR28","first-page":"73","volume":"17","author":"S Zilberstein","year":"1996","unstructured":"Zilberstein S (1996) Using anytime algorithms in intelligent systems. AI Mag 17(3):73\u201383","journal-title":"AI Mag"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-022-00421-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-022-00421-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-022-00421-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,25]],"date-time":"2022-05-25T16:22:26Z","timestamp":1653495746000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-022-00421-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,4]]},"references-count":28,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2022,4]]}},"alternative-id":["421"],"URL":"https:\/\/doi.org\/10.1007\/s11370-022-00421-x","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"type":"print","value":"1861-2776"},{"type":"electronic","value":"1861-2784"}],"subject":[],"published":{"date-parts":[[2022,4]]},"assertion":[{"value":"15 July 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 March 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 April 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}