Navigation of magnetic microrobots with different user interaction levels

<!DOCTYPE html> <html lang="it"> <head> <meta charset="utf-8"> <meta http-equiv="X-UA-Compatible" content="IE=edge"> <meta name="viewport" content="width=device-width, initial-scale=1.0"> <link rel="shortcut icon" href="/sr/favicon.ico" /> <link href="/sr/jstree/themes/default/style.min.css" rel="stylesheet" type="text/css"><link rel="stylesheet" href="/sr/jquery-ui/jquery-ui.min.css"> <link rel="stylesheet" type="text/css" href="https://static.cineca.it/jd/npm/jgrowl@1.4.9/jquery.jgrowl.min.css" /> <link rel="stylesheet" href="https://static.cineca.it/jd/npm/select2@4.0.13/dist/css/select2.min.css" /> <link rel="stylesheet" href="https://static.cineca.it/jd/npm/select2-bootstrap-5-theme@1.1.1/dist/select2-bootstrap-5-theme.min.css" /> <link rel="stylesheet" href="/sr/cineca/css/bootstrap-ricerca.min.css"> <link rel="stylesheet" href="/sr/local.css"><title>Navigation of magnetic microrobots with different user interaction levels</title> <script src="https://static.cineca.it/jd/npm/jquery@3.7.1/dist/jquery.min.js" integrity="sha512-v2CJ7UaYy4JwqLDIrZUI/4hqeoQieOmAZNXBeQyjo21dadnwR+8ZaIJVT8EE2iyI61OV8e6M8PP2/4hpQINQ/g==" crossorigin="anonymous"></script> <script type="text/javascript" src="/sr/jquery-ui/jquery-ui.min.js"></script> <script type="text/javascript" src="/sr/jquery-ui-i18n/jquery.ui.datepicker-it.latest.js" charset="utf-8"></script> <script src="https://static.cineca.it/jd/npm/bootstrap@5.2.3/dist/js/bootstrap.bundle.min.js" integrity="sha384-kenU1KFdBIe4zVF0s0G1M5b4hcpxyD9F7jL+jjXkk+Q2h455rYXK/7HAuoJl+0I4" crossorigin="anonymous"></script> <script src="https://static.cineca.it/jd/npm/jgrowl@1.4.9/jquery.jgrowl.min.js"></script> <script src="https://static.cineca.it/jd/npm/select2@4.0.13/dist/js/select2.full.min.js"></script> <script src="https://static.cineca.it/jd/npm/blueimp-tmpl@3.20.0/js/tmpl.min.js"></script><script type="text/javascript" src="/sr/jstree/jstree.min.js"></script><script type="text/javascript" src="/sr/jquery/js/jquery.displaytag-ajax-1.2.js"></script> <script src="https://static.cineca.it/jd/npm/js-cookie@3.0.5/dist/js.cookie.min.js" integrity="sha256-WCzAhd2P6gRJF9Hv3oOOd+hFJi/QJbv+Azn4CGB8gfY=" crossorigin="anonymous" referrerpolicy="no-referrer"></script> <script> var JQ = $; var j = $; </script> <script type="text/javascript"> </script> <script type="text/javascript" src="/sr/cineca/js/cilea.js?fwkVersion=24.11.2.0"></script> <script type="text/javascript" src="/sr/cineca/js/fragment.js?fwkVersion=24.11.2.0"></script> <script type="text/javascript" src="/sr/cineca/js/treeview.js?fwkVersion=24.11.2.0"></script> <script type="text/javascript" src="/sr/cineca/js/ap-tool.js?fwkVersion=24.11.2.0"></script> <span style="display:none;" id="rememberToSaveText">Attenzione: i dati modificati non sono ancora stati salvati. Per confermare inserimenti o cancellazioni di voci 猫 necessario confermare con il tasto SALVA/INSERISCI in fondo alla pagina</span> <script type="text/javascript" src="/sr/cineca/js/print.js?fwkVersion=24.11.2.0"></script> <script type="text/javascript" src="/sr/cineca/js/widget.js?fwkVersion=24.11.2.0"></script> <script type="text/javascript" src="/sr/cineca/js/layout.js?fwkVersion=24.11.2.0"></script> <script type="text/javascript"> var authenticatedPersonId=''; var authenticatedUser=false; </script> <script type="text/javascript" src="https://www.iris.sssup.it/static/js/utils.js"></script> <script type="text/javascript" src="https://www.iris.sssup.it/static/js/choice-support.js"></script> <script type="text/javascript"> j(document).ready(function() { j('body').on('change','#itemxpage', function() { var dspaceObjectId = $('#dspaceObjectId').val(); if (dspaceObjectId != null && dspaceObjectId != '') { $('#modal_display_item').modal('toggle'); showEventLog(dspaceObjectId, '1', this.value); } }); j('body').on('click',"#modal_display_item .pagination li:not('.active') .page-link", function(event) { var pagesize = $('#itemxpage').val(); var dspaceObjectId = $('#dspaceObjectId').val(); var url = new URL(this.href); var page = url.searchParams.get("page"); if (page == null || isNaN(page)){ page = 1; } if (dspaceObjectId != null && dspaceObjectId != '') { $('#modal_display_item').modal('toggle'); showEventLog(dspaceObjectId,page, pagesize); } return false; }); }); function showEventLog(dsoId, page, pagesize) { var url = "/dspaceObjectEventLog/widgetSearch.modal"; jQuery.ajax({ url: url, method: 'GET', data: {dspaceObjectId: dsoId, posting: 1, modalSize: 'xlarge', page: page, pageSize: pagesize}, success: function(data) { var $modal = $(data); $modal.attr('id','modal_display_item'); $('body').append($modal); var myModal = new bootstrap.Modal(document.getElementById('modal_display_item'), {backdrop: true}); myModal.show(); $modal.filter('.modal').on('hidden.bs.modal', function(){ $modal.remove(); }); } }); } </script> <script type"text/javascript"> $(document).ready(function() { checkMoreless(); }); function checkMoreless() { if($('.moreless-more').length) { var more = $('<a class="btn-link"></a>').html(' espandi'); more.click(function(){ var moretext = $(this).next('.moreless-more'); var lesstext = $(this).prev('.moreless-fixed'); lesstext.html(lesstext.html().substring(0, lesstext.html().length-3)); moretext.toggleClass('hide'); $(this).toggleClass('hide'); var less = $('<a class="btn-link"></a>').html(' comprimi'); less.click(function(){ var moretext = $(this).prev('.moreless-more'); moretext.toggleClass('hide'); $(this).toggleClass('hide'); moretext.prev('a').toggleClass('hide'); var elements = document.getElementsByTagName('span'); for (var i = 0; i < elements.length; i++) { if((elements[i].className).indexOf('moreless-fixed') > -1) { if(elements[i].innerHTML.indexOf('...') == -1){ elements[i].innerHTML=elements[i].innerHTML+'...'; } } } }); moretext.after(less); }); $('.moreless-more').before(more); $('.moreless-more').toggleClass('hide'); } } </script><script> window.customCookieJsonConfigPath='/sr/cookie-config.json'; </script> <script src="https://static.iu.cineca.it/v1/default.js"></script> <script type="text/javascript"> function isThirdPartyCookieEnabled() { var cookieString = Cookies.get('cc_cookie'); if (cookieString==null||cookieString=="") return false; var cookieJson = JSON.parse(cookieString); var retValue = false; $.each(cookieJson.level , function (key, value) { if(value == 'thirdParty') retValue = true; }); return retValue; } $(document).on('click', '.c-bn', function() { Cookies.set('thirdParty',isThirdPartyCookieEnabled(), { path: '/'}); }); Cookies.set('thirdParty',isThirdPartyCookieEnabled(), { path: '/' }); </script> <script type="text/javascript"> $(document).ready(function() { if (typeof trackEventCategoryDone === "undefined") { trackEvent('trackPageView'); } }); </script> <script type="text/javascript" src="/sr/local.js?fwkVersion=24.11.2.0"></script> <link rel="schema.DCTERMS" href="http://purl.org/dc/terms/" /> <link rel="schema.DC" href="http://purl.org/dc/elements/1.1/" /> <meta name="DC.date" content="2022-05-04T07:51:28Z" xml:lang="*" scheme="DCTERMS.W3CDTF" /> <meta name="DC.type" content="internazionale" xml:lang="en" /> <meta name="DC.subject" content="Control architectures; lab-on-a-chip; magnetic navigation; microrobot" xml:lang="en" /> <meta name="DC.description" content="7" /> <meta name="DC.type" content="Esperti anonimi" xml:lang="en" /> <meta name="DCTERMS.dateAccepted" content="2022-05-04T07:51:28Z" scheme="DCTERMS.W3CDTF" /> <meta name="DC.type" content="si" xml:lang="en" /> <meta name="DC.description" content="no" xml:lang="en" /> <meta name="DC.identifier" content="2-s2.0-84904381816" xml:lang="en" /> <meta name="DC.identifier" content="http://hdl.handle.net/11382/545996" scheme="DCTERMS.URI" /> <meta name="DC.language" content="eng" xml:lang="en" scheme="DCTERMS.RFC1766" /> <meta name="DC.relation" content="818" xml:lang="en" /> <meta name="DC.relation" content="10" xml:lang="en" /> <meta name="DC.identifier" content="10.1109/TASE.2014.2317232" xml:lang="en" /> <meta name="DC.identifier" content="WOS:000340101400017" /> <meta name="DC.relation" content="3" xml:lang="en" /> <meta name="DCTERMS.issued" content="2014" scheme="DCTERMS.W3CDTF" /> <meta name="DC.type" content="262" /> <meta name="DCTERMS.available" content="2022-05-04T07:51:28Z" scheme="DCTERMS.W3CDTF" /> <meta name="DC.title" content="Navigation of magnetic microrobots with different user interaction levels" xml:lang="en" /> <meta name="DC.relation" content="827" xml:lang="en" /> <meta name="DC.relation" content="11" xml:lang="en" /> <meta name="DC.date" content="2022-05-04T07:51:28Z" xml:lang="*" scheme="DCTERMS.W3CDTF" /> <meta name="DC.type" content="1 Contributo su Rivista::1.1 Articolo su Rivista/Article" xml:lang="it" /> <meta name="DC.description" content="none" xml:lang="en" /> <meta name="DC.type" content="info:eu-repo/semantics/article" /> <meta name="DC.description" content="Micro-technologies based on wirelessly powered and manoeuvred submillimeter device, i.e., microrobots, are attracting growing attention. Their application in lab-on-a-chip systems, such as micromanipulation and in vitro cell sorting, is expected to steeply increase. However, the actuation, powering and control of microrobots are challenges that still need concrete solutions. Magnetic fields generally enable wireless navigation of microrobots, but proper control architectures and magnetic navigation systems are needed, depending on the specific task and on the level of interaction required to the user. Here we present a magnetic navigation platform intended for lab-on-a-chip applications and we address its usability with different levels of human involvement by using two control architectures: teleoperated and autonomous. We perform an experimental analysis to demonstrate that both architectures, enrolling different levels of interaction by the user, lead to reliable execution of the microrobotic task. First, we validate the open-loop response of the microrobotic system, and second, we evaluate the performance of the system by testing both control architectures with a standard mobility task. The results show that users can teleoperate the microrobot with 100% success rate, in 14.4 卤 1.9s with a normalized spatial mean error of 0.60 卤 0.13. Moreover, results show a fast decaying learning curve for the users involved in the study. Compared to this, when the navigation task is performed by the autonomous control, 100% success rate, a time of 8.0 卤 0.5s and a normalized spatial mean error of 0.50 卤 0.05 are obtained. Finally, we quantitatively demonstrate how both control methodologies enable very smooth movements of the microrobot, suggesting application for any task where repeatable and dexterous movements in liquid microenvironments are key requirements. 漏 2004-2012 IEEE." /> <meta name="DC.contributor" content="Istituto di Biorobotica" xml:lang="*" /> <meta name="DC.contributor" content="529" xml:lang="*" /> <meta name="DC.subject" content="Control architectures" xml:lang="*" /> <meta name="DC.subject" content="lab-on-a-chip" xml:lang="*" /> <meta name="DC.subject" content="magnetic navigation" xml:lang="*" /> <meta name="DC.subject" content="microrobot" xml:lang="*" /> <meta name="DC.date" content="2023/05/16 11:30:43" xml:lang="*" scheme="DCTERMS.W3CDTF" /> <meta name="DC.date" content="1684229443776" xml:lang="*" scheme="DCTERMS.W3CDTF" /> <meta name="DC.contributor" content="Non assegn" xml:lang="*" /> <meta name="DC.contributor" content="AREA MIN. 09 - Ingegneria industriale e dell'informazione" xml:lang="*" /> <meta name="DC.contributor" content="AREA MIN. 09 - Ingegneria industriale e dell'informazione" xml:lang="*" /> <meta name="DC.contributor" content="Non assegn" xml:lang="*" /> <meta name="DC.contributor" content="AREA MIN. 09 - Ingegneria industriale e dell'informazione" xml:lang="*" /> <meta name="DC.contributor" content="Non assegn" xml:lang="*" /> <meta name="DC.description" content="Lucarini G.; Palagi S.; Levi A.; Mazzolai B.; Dario P.; Menciassi A.; Beccai L." xml:lang="en" /> <meta name="DC.description" content="Lucarini, G.; Palagi, S.; Levi, A.; Mazzolai, B.; Dario, P.; Menciassi, A.; Beccai, L." /> <meta name="citation_title" content="Navigation of magnetic microrobots with different user interaction levels" /> <meta name="citation_author" content="Lucarini, G." /> <meta name="citation_author_email" content="g.lucarini@reliefsrl.com" /> <meta name="citation_author" content="Palagi, S." /> <meta name="citation_author_email" content="stefano.palagi@santannapisa.it" /> <meta name="citation_author" content="Levi, A." /> <meta name="citation_author_email" content="alessandro.levi@sssup.it" /> <meta name="citation_author" content="Mazzolai, B." /> <meta name="citation_author_email" content="barbara.mazzolai@sssup.it" /> <meta name="citation_author" content="Dario, P." /> <meta name="citation_author_email" content="paolo.dario@santannapisa.it" /> <meta name="citation_author" content="Menciassi, A." /> <meta name="citation_author_email" content="arianna.menciassi@santannapisa.it" /> <meta name="citation_author" content="Beccai, L." /> <meta name="citation_author_email" content="lucia.beccai@sssup.it" /> <meta name="citation_date" content="2014" /> <meta name="citation_issn" content="1545-5955" /> <meta name="citation_journal_title" content="IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING" /> <meta name="citation_volume" content="11" /> <meta name="citation_issue" content="3" /> <meta name="citation_firstpage" content="818" /> <meta name="citation_lastpage" content="827" /> <meta name="citation_doi" content="10.1109/TASE.2014.2317232" /> <meta name="citation_abstract_html_url" content="https://www.iris.sssup.it/handle/11382/545996" /> <meta name="citation_language" content="eng" /> <meta name="citation_keywords" content="Control architectures; lab-on-a-chip; magnetic navigation; microrobot" /> <script type="text/javascript"> $(document).on('click', '.c-bn', function() { location.reload(); }); </script> </head> <body class="body-default body-anonymous"> <header class="navbar navbar-expand-md navbar-dark sticky-top layout-top bg-primary iu-hide"> <nav class="container-fluid flex-wrap flex-md-nowrap" aria-label="menu top"> <a class="navbar-brand ps-0 pt-0 pb-0 pe-3" href="https://www.iris.sssup.it/" aria-label="link homepage" id="uiLogoLink"> <img src="/sr/logo_iris.png" alt="IRIS" id="uiLogoImg" class="d-block my-1 navbar-brand-img"/> </a> <a class="navbar-brand ps-3 pt-0 pb-0 pe-3 me-3" href="" aria-label="link homepage universit脿" id="customerLogoLink"> <img src="/sr/logo_customer.png" alt="IRIS" id="clientLogoImg" class="d-block my-1 navbar-brand-img"/> </a> <button class="navbar-toggler" type="button" data-bs-toggle="collapse" data-bs-target="#navbarSupportedContent" aria-controls="navbarSupportedContent" aria-expanded="false" aria-label="mostra/nascondi menu"> <span class="fas fa-bars"></span> </button> <div class="collapse navbar-collapse" id="navbarSupportedContent"> <ul class="navbar-nav flex-row flex-wrap pt-2 py-md-0"> </ul> <ul class="navbar-nav flex-row flex-wrap ms-md-auto"> <li class="nav-item col-6 col-md-auto " id="topNavHome"> <a class="nav-link p-2" href="https://www.iris.sssup.it/">Home</a> </li> <li class="nav-item col-6 col-md-auto dropdown"> <a class="nav-link p-2 dropdown-toggle" href="#" id="navbarDropdownBrowse" role="button" data-bs-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> Sfoglia</a> <div class="dropdown-menu" aria-labelledby="navbarDropdownBrowse"> <a class="dropdown-item" href="https://www.iris.sssup.it/community-list">Macrotipologie<br/>& tipologie</a> <div class="dropdown-divider"></div> <a class="dropdown-item" href="https://www.iris.sssup.it/browse?type=author">Autore</a> <a class="dropdown-item" href="https://www.iris.sssup.it/browse?type=title">Titolo</a> <a class="dropdown-item" href="https://www.iris.sssup.it/browse?type=relationJournal">Riviste</a> <a class="dropdown-item" href="https://www.iris.sssup.it/browse?type=relationSerie">Serie</a> </div> </li> </ul> <form class="navbar-search-top d-flex" action="https://www.iris.sssup.it/simple-search" method="get" role="search"> <div class="input-group p-2"> <input class="form-control bg-primary layout-top-input" type="search" placeholder="Search IRIS" name="query" id="tequery" size="25" aria-label="Search IRIS"> <button class="btn btn-primary layout-top-input-btn" type="submit"><span class="fas fa-search"></span></button> </div> </form> <ul class="navbar-nav flex-row flex-wrap"> <li class="nav-item col-6 col-md-auto dropdown"> <a class="nav-link p-2 dropdown-toggle" href="#" id="navbarDropdownLanguage" role="button" data-bs-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> IT</a> <div class="dropdown-menu dropdown-menu-end" aria-labelledby="navbarDropdownLanguage"> <a class="dropdown-item" href="javascript:reloadLanguageModuleAll('https://www.iris.sssup.it',['bi','rm','gw','ma','','saiku','ap'],'/language/change.json','it');" ><img src="/sr/cineca/images/flag/flag_it.png" alt="Italiano" title=""/> Italiano</a> <a class="dropdown-item" href="javascript:reloadLanguageModuleAll('https://www.iris.sssup.it',['bi','rm','gw','ma','','saiku','ap'],'/language/change.json','en');" ><img src="/sr/cineca/images/flag/flag_en.png" alt="English" title="English"/> English</a> </div> </li> <li class="nav-item col-6 col-md-auto "> <script type="text/javascript">  </script><noscript><a href="https://wiki.u-gov.it/confluence/x/HJEWAw" target="dspacepopup"><span class="fas fa-question-circle" title="Aiuto"></span></a></noscript> </li> <li class="nav-item col-6 col-md-auto dropdown"><a class="nav-link p-2" href="https://www.iris.sssup.it/securityLanding.htm">LOGIN</a></li> </ul> </div> </nav> </header> <div class="site-header iu-hide bg-secondary text-white"> <div class="site-title CinecaSiteIntroduction" id="headerText"> <div> IRIS</div> </div> </div> <div class="container-xxl ps-0 pe-0 layout-no-sidebar" id="mainContainerDiv"> <main class="layout-main" id="content"> <div class="container-fluid page-content"> <nav aria-label="breadcrumb" class="mt-2 iu-hide"> <form name="breadCrumbsForm" id="breadCrumbsForm" method="post"> <ol class="breadcrumb rounded"> <li class="breadcrumb-item"><a href="/">IRIS</a></li> <li class="breadcrumb-item"><a href="/handle/11382/496815">SIARI SSSUP</a></li> <li class="breadcrumb-item"><a href="/handle/11382/496817">1 Contributo su Rivista</a></li> <li class="breadcrumb-item"><a href="/handle/11382/496776">1.1 Articolo su Rivista/Article</a></li></ol> </form> </nav> <p class="searchIndexItemDescription abstractEng">Micro-technologies based on wirelessly powered and manoeuvred submillimeter device, i.e., microrobots, are attracting growing attention. Their application in lab-on-a-chip systems, such as micromanipulation and in vitro cell sorting, is expected to steeply increase. However, the actuation, powering and control of microrobots are challenges that still need concrete solutions. Magnetic fields generally enable wireless navigation of microrobots, but proper control architectures and magnetic navigation systems are needed, depending on the specific task and on the level of interaction required to the user. Here we present a magnetic navigation platform intended for lab-on-a-chip applications and we address its usability with different levels of human involvement by using two control architectures: teleoperated and autonomous. We perform an experimental analysis to demonstrate that both architectures, enrolling different levels of interaction by the user, lead to reliable execution of the microrobotic task. First, we validate the open-loop response of the microrobotic system, and second, we evaluate the performance of the system by testing both control architectures with a standard mobility task. The results show that users can teleoperate the microrobot with 100% success rate, in 14.4 卤 1.9s with a normalized spatial mean error of 0.60 卤 0.13. Moreover, results show a fast decaying learning curve for the users involved in the study. Compared to this, when the navigation task is performed by the autonomous control, 100% success rate, a time of 8.0 卤 0.5s and a normalized spatial mean error of 0.50 卤 0.05 are obtained. Finally, we quantitatively demonstrate how both control methodologies enable very smooth movements of the microrobot, suggesting application for any task where repeatable and dexterous movements in liquid microenvironments are key requirements. 漏 2004-2012 IEEE.</p> <div class="row"> <div class="col-lg-12 col-xl-9"> <div class="card"> <div class="card-body"> <div> <h3 class="mb-1 text-secondary">Navigation of magnetic microrobots with different user interaction levels</h3> <h5> <em><span class="contributor internalContributor internalContributordd9e0b33-8723-709e-e053-3705fe0a83fd m-1"><a href="/cris/rp/rp01181" class="authority author">Lucarini G.</a><sup class="ms-1"><h6 class="badge bg-info"><span class="fas fa-at" title="Corresponding author"></span></h6></sup>;</span><span class="contributor internalContributor internalContributordd9e0b33-8723-709e-e053-3705fe0a83fd m-1"><a href="/cris/rp/rp01183" class="authority author">Palagi S.</a>;</span><span class="contributor internalContributor internalContributordd9e0b33-8723-709e-e053-3705fe0a83fd m-1"><a href="/cris/rp/rp01206" class="authority author">Levi A.</a>;</span><span class="contributor internalContributor internalContributordd9e0b33-8723-709e-e053-3705fe0a83fd m-1"><a href="/cris/rp/rp00293" class="authority author">Mazzolai B.</a>;</span><span class="contributor internalContributor internalContributordd9e0b33-8723-709e-e053-3705fe0a83fd m-1"><a href="/cris/rp/rp00223" class="authority author">Dario P.</a>;</span><span class="contributor internalContributor internalContributordd9e0b33-8723-709e-e053-3705fe0a83fd m-1"><a href="/cris/rp/rp00889" class="authority author">Menciassi A.</a>;</span><span class="contributor internalContributor internalContributordd9e0b33-8723-709e-e053-3705fe0a83fd m-1"><a href="/cris/rp/rp00188" class="authority author">Beccai L.</a></span></em> </h5> <h5>2014-01-01</h5> <hr/> <h4 class="mb-1">Abstract</h4> Micro-technologies based on wirelessly powered and manoeuvred submillimeter device, i.e., microrobots, are attracting growing attention. Their application in lab-on-a-chip systems, such as micromanipulation and in vitro cell sorting, is expected to steeply increase. However, the actuation, powering and control of microrobots are challenges that still need concrete solutions. Magnetic fields generally enable wireless navigation of microrobots, but proper control architectures and magnetic navigation systems are needed, depending on the specific task and on the level of interaction required to the user. Here we present a magnetic navigation platform intended for lab-on-a-chip applications and we address its usability with different levels of human involvement by using two control architectures: teleoperated and autonomous. We perform an experimental analysis to demonstrate that both architectures, enrolling different levels of interaction by the user, lead to reliable execution of the microrobotic task. First, we validate the open-loop response of the microrobotic system, and second, we evaluate the performance of the system by testing both control architectures with a standard mobility task. The results show that users can teleoperate the microrobot with 100% success rate, in 14.4 卤 1.9s with a normalized spatial mean error of 0.60 卤 0.13. Moreover, results show a fast decaying learning curve for the users involved in the study. Compared to this, when the navigation task is performed by the autonomous control, 100% success rate, a time of 8.0 卤 0.5s and a normalized spatial mean error of 0.50 卤 0.05 are obtained. Finally, we quantitatively demonstrate how both control methodologies enable very smooth movements of the microrobot, suggesting application for any task where repeatable and dexterous movements in liquid microenvironments are key requirements. 漏 2004-2012 IEEE. </div> <div class="dspace-display-item tabbable page-tabs mt-3"> <h5> <ul class="nav nav-tabs border-bottom fw-bold"> <li class="nav-item"><a class="nav-link active" href="#tab_default" onclick="changeItemView('simple');" data-bs-toggle="tab">Scheda breve</a></li> <li class="nav-item"><a class="nav-link " href="#tab_default" onclick="changeItemView('complete');" data-bs-toggle="tab">Scheda completa</a></li> <li class="nav-item"><a class="nav-link " href="#tab_default" onclick="changeItemView('full');" data-bs-toggle="tab">Scheda completa (DC)</a></li> <li class="nav-item"><a class="nav-link" onclick="location.href='/cris/item/11382/545996/statistics'" data-bs-toggle="tab"><span class="far fa-chart-bar"></span></a></li> </ul> </h5> <div class="tab-content"> <div class="tab-pane active fade show" id="tab_default"> <div class="itemDisplayTable container-fluid g-3"> <div class="line form-group row metadataFieldValue pt-2 pb-2 dc_date_issued" id="dc.date.issued_line" > <div class="line-label col-md-12"><label for="dc.date.issued" class="control-label metadataFieldLabel dc_date_issued"> <span class="line-label-text">Anno del prodotto</span> </label></div> <div class="line-content col-sm-12" id="dc.date.issued_content"> <em>2014</em> </div> </div> <div class="line form-group row metadataFieldValue pt-2 pb-2 dspace_collection" id="dspace_collection_line" > <div class="line-label col-md-12"><label for="dspace_collection" class="control-label metadataFieldLabel dspace_collection"> <span class="line-label-text">Appare nelle tipologie:</span> </label></div> <div class="line-content col-sm-12" id="dspace_collection_content"> <a href="/handle/11382/496776">1.1 Articolo su Rivista/Article</a> </div> </div> </div> </div> </div> </div></div> </div> <script type="text/x-tmpl" id="tmpLicenseDetail"> <div class="d-flex align-items-center"> {% if (o.licenseImage != null) { %} <div class="flex-shrink-0"> <img src="{%= o.licenseImage %}" /> </div> {% } %} <div class="flex-grow-1 ms-3"> {%# o.licenseName %} </div> </div> </script> <div id="bitstreams" class="card bg-white mt-2"> <div class="card-header">File in questo prodotto:</div> <div class="card-body">Non ci sono file associati a questo prodotto.</div> </div> <div class="col-lg-12 mt-2"> </div> <div class="col-lg-12 mt-2"> <p class="submitFormHelp alert alert-info">I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.</p> </div> </div> <div class="col-lg-12 col-xl-3" id="itemInformationsDiv"> <div id="_line" > <div class="accordion" id="accordion_"> <div class="accordion-item"> <h5 class="accordion-header" id="heading_"> <button class="accordion-button bg-info bg-opacity-25 collapsed" type="button" data-bs-toggle="collapse" data-bs-target="#collapse_" aria-expanded="false" aria-controls="collapse_"><i class="fas fa-info-circle"></i> Informazioni</button> </h5> <div id="collapse_" class="accordion-collapse collapse show" aria-labelledby="heading_" data-bs-parent="#accordion_"> <div class="accordion-body"> Utilizza questo identificativo per citare o creare un link a questo documento: <code>https://hdl.handle.net/11382/545996</code> </div> </div> </div> </div> </div> <script type="text/javascript"> runningExternal=false; </script> <div class="card border-white mt-2" > <div class="card-header bg-white text-primary"><h5>Citazioni</h5></div> <ul class="list-group list-group-flush"> <li class="list-group-item d-flex justify-content-between align-items-start"> <a href="#" ><img src="https://www.iris.sssup.it/sr/cineca/images/thirdparty/pmc_small.png" style="height: 18px;" alt="???jsp.display-item.citation.pmc???"/></a> <span class="badge bg-secondary rounded-pill" data-bs-toggle="tooltip" data-bs-placement="left" id="pmcCitedResultTotal" title="" >ND</span> </li> <script type="text/javascript"> var pmcChartData = []; pmcChartData[0] = 0; pmcChartData[1] = 0; pmcChartData[2] = 0; pmcChartData[3] = 0; pmcChartData[4] = 0; pmcChartData[5] = 0; function pmcUpdateCitationQueue(forceUpdate) { //console.log('call pmcUpdateCitation'); if (runningExternal) { var rnd=Math.floor(Math.random() * (2000 + 1) + 1000); //console.log('wait pmcUpdateCitation for '+rnd); setTimeout(() => { pmcUpdateCitationQueue(forceUpdate); }, rnd); } else { //console.log('executing pmcUpdateCitation'); runningExternal=true; pmcUpdateCitation(forceUpdate) } } function pmcUpdateCitation(forceUpdate) { $('#pmcCitedResultTotal').append('<div class="spinner-border spinner-border-sm ms-2" role="status"></div>'); $.ajax({ url: '/itemExternalCitation/pmc/get.json', dataType: 'json', data: { discriminator: 'pmc', itemId: 'dd9e0b33-8723-709e-e053-3705fe0a83fd', forceUpdate: forceUpdate } }).done(function(adata) { $('#pmcCitedResultTotal').tooltip('dispose'); $('#pmcCitedResultTotal').prop("onclick", null).off("click"); if (adata.total==null){ $('#pmcCitedResultTotal').html('ND'); } else { $('#pmcCitedResultTotal').html(adata.total); } var year=new Date().getFullYear(); pmcChartData[0] = (adata.yearTotalMap[''+(year-5)]!=null ? adata.yearTotalMap[''+(year-5)] : 0); pmcChartData[1] = (adata.yearTotalMap[''+(year-4)]!=null ? adata.yearTotalMap[''+(year-4)] : 0); pmcChartData[2] = (adata.yearTotalMap[''+(year-3)]!=null ? adata.yearTotalMap[''+(year-3)] : 0); pmcChartData[3] = (adata.yearTotalMap[''+(year-2)]!=null ? adata.yearTotalMap[''+(year-2)] : 0); pmcChartData[4] = (adata.yearTotalMap[''+(year-1)]!=null ? adata.yearTotalMap[''+(year-1)] : 0); pmcChartData[5] = (adata.yearTotalMap[''+year]!=null ? adata.yearTotalMap[''+year] : 0); drawChart(); }).always(function(adata){ //console.log('end pmcUpdateCitation'); runningExternal=false; }); } </script> <li class="list-group-item d-flex justify-content-between align-items-start"> <a href="http://www.scopus.com/inward/record.url?partnerID=3MLxHJVE&origin=inward&eid=2-s2.0-84904381816" target="_blank" rel="noopener"><img src="https://www.iris.sssup.it/sr/cineca/images/thirdparty/scopus_small.png" style="height: 18px;" alt="Scopus"/></a> <span class="badge bg-secondary rounded-pill" data-bs-toggle="tooltip" data-bs-placement="left" id="scopusCitedResultTotal" title="aggiornato in data 16-11-2024 18:36" >18</span> </li> <script type="text/javascript"> $(document).ready(function() { scopusUpdateCitationQueue(false); }); </script> <script type="text/javascript"> var scopusChartData = []; scopusChartData[0] = 0; scopusChartData[1] = 0; scopusChartData[2] = 0; scopusChartData[3] = 0; scopusChartData[4] = 0; scopusChartData[5] = 0; function scopusUpdateCitationQueue(forceUpdate) { //console.log('call scopusUpdateCitation'); if (runningExternal) { var rnd=Math.floor(Math.random() * (2000 + 1) + 1000); //console.log('wait scopusUpdateCitation for '+rnd); setTimeout(() => { scopusUpdateCitationQueue(forceUpdate); }, rnd); } else { //console.log('executing scopusUpdateCitation'); runningExternal=true; scopusUpdateCitation(forceUpdate) } } function scopusUpdateCitation(forceUpdate) { $('#scopusCitedResultTotal').append('<div class="spinner-border spinner-border-sm ms-2" role="status"></div>'); $.ajax({ url: '/itemExternalCitation/scopus/get.json', dataType: 'json', data: { discriminator: 'scopus', itemId: 'dd9e0b33-8723-709e-e053-3705fe0a83fd', forceUpdate: forceUpdate } }).done(function(adata) { $('#scopusCitedResultTotal').tooltip('dispose'); $('#scopusCitedResultTotal').prop("onclick", null).off("click"); if (adata.total==null){ $('#scopusCitedResultTotal').html('18'); } else { $('#scopusCitedResultTotal').html(adata.total); } var year=new Date().getFullYear(); scopusChartData[0] = (adata.yearTotalMap[''+(year-5)]!=null ? adata.yearTotalMap[''+(year-5)] : 0); scopusChartData[1] = (adata.yearTotalMap[''+(year-4)]!=null ? adata.yearTotalMap[''+(year-4)] : 0); scopusChartData[2] = (adata.yearTotalMap[''+(year-3)]!=null ? adata.yearTotalMap[''+(year-3)] : 0); scopusChartData[3] = (adata.yearTotalMap[''+(year-2)]!=null ? adata.yearTotalMap[''+(year-2)] : 0); scopusChartData[4] = (adata.yearTotalMap[''+(year-1)]!=null ? adata.yearTotalMap[''+(year-1)] : 0); scopusChartData[5] = (adata.yearTotalMap[''+year]!=null ? adata.yearTotalMap[''+year] : 0); drawChart(); }).always(function(adata){ //console.log('end scopusUpdateCitation'); runningExternal=false; }); } </script> <li class="list-group-item d-flex justify-content-between align-items-start" style="display: none;" id="citation_chart_panel"> <div id="citation_chart" style="width: 100%;"></div> <script type="text/javascript"> $('#citation_chart').html('<span class="fas fa-shield" title="il componente non pu貌 essere visualizzato perch茅 i cookie di terze parti sono stati disabilitati. Riabilitarli tramite il pannello Utilizzo dei cookie situato a fondo pagina"><span> '); </script> </li> </ul> </div> <div class="card border-white mt-2" > <div class="card-header bg-white text-primary"><h5>social impact</h5></div> <ul class="list-group list-group-flush"> <li class="list-group-item d-flex justify-content-between align-items-start"> <a id="plumx" href="https://plu.mx/plum/a/?doi=10.1109/TASE.2014.2317232" class="plumx-plum-print-popup"></a> <script type="text/javascript"> if (isThirdPartyCookieEnabled()) { $.getScript("//cdn.plu.mx/widget-popup.js", function() { }); } else { $('#plumx').attr('href','#').html('<span class="fas fa-shield" title="il componente non pu貌 essere visualizzato perch茅 i cookie di terze parti sono stati disabilitati. Riabilitarli tramite il pannello Utilizzo dei cookie situato a fondo pagina"><span> '); } </script> </li> </ul> </div> </div> </div> <div id="dialog-confirm-delete" class="modal"> <div class="modal-dialog "> <div class="modal-content"> <div class="modal-header bg-success text-white"> <h5 id="dialog-confirm-delete_title" class="modal-title"> Conferma cancellazione </h5> <button type="button" class="btn-close" data-bs-dismiss="modal" aria-label="Close"></button> </div> <div id="dialog-confirm-delete_content" class="modal-body with-padding"> <p class="message">Sei sicuro che questo prodotto debba essere cancellato?</p> </div> <div id="dialog-confirm-delete_footer" class="modal-footer bg-light"> <button type="button" class="btn btn-secondary " data-bs-dismiss="modal"> Chiudi </button> <button type="button" id="button-confirm-delete" class="btn btn-secondary " > Elimina </button> </div> </div> </div> </div> <script type="text/javascript"> var modeNow; function changeItemView(mode) { $('#tab_default').html('<i class="fas fa-spinner fa-pulse fa-3x fa-fw mt-3"></i>'); $.ajax({ url: '/fragment/handle/11382/545996', data: { mode: mode, descriptionAbstractUsedField: 'dc.description.abstracteng' } }).done(function(data) { modeNow=mode; $('#tab_default').html(data); //change url //var href="/handle/11382/545996"; var href=window.location.href; if (!href.includes("mode=")) { if (!href.includes("?")) href+='?mode='+mode; else href+='&mode='+mode; } else href=href.replace( /(mode=)[a-z]+/ig, '$1'+mode ); window.history.pushState("", "", href); }); } function getUrlVars() { var vars = {}; var parts = window.location.href.replace(/[?&]+([^=&]+)=([^&]*)/gi, function(m,key,value) { vars[key] = value; }); return vars; } j('#button-confirm-delete').click(function() { location.href='/item/version/reinstateOrWithdraw.htm?itemId=' + 'dd9e0b33-8723-709e-e053-3705fe0a83fd'; }); j('#button-confirm-force-delete').click(function() { location.href='/item/version/reinstateOrWithdraw.htm?forceWithdraw=true&itemId=' + 'dd9e0b33-8723-709e-e053-3705fe0a83fd'; }); function getSOLR() { $('li a.nav-link active').removeClass('active'); $('#linkSOLR').addClass('active'); $('#tab_default').html('<i class="fas fa-spinner fa-pulse fa-3x fa-fw mt-3"></i>'); $.ajax('/itemSolr/get.json?itemUUID=dd9e0b33-8723-709e-e053-3705fe0a83fd') .done(function(data) { $('#tab_default').html('<pre>'+JSON.stringify(data, null,' ')+'</pre>'); }); } </script> <script type="text/javascript"> function showAbout() { jQuery.ajax({ url: "/about.modal", type: 'GET', success: function(data) { var $modal = jQuery(data); jQuery('body').append($modal); $modal.filter('.modal').modal('show'); $modal.filter('.modal').on('hidden.bs.modal', function(){ $modal.remove(); }); $modal.attr('id','modal_about'); $modal.modal('show') }, error: function(data,extStatus, errorThrown) { $.jGrowl('errore generico di comunicazione', { sticky: true, theme: 'bg-danger text-white' }); } }); } function showCookies() { showCookieSettings(); } function showPrivacyInfo() { window.open('/aboutPrivacyInfo.htm', '_blank').focus(); } </script> <script type="text/javascript"> function asn1820List() { jQuery('#asn1820-div').modal('show'); } </script> <div class="modal fade" id="asn1820-div" tabindex="-1" role="dialog" aria-labelledby="asn1820Label" aria-hidden="true"> <div class="modal-dialog"> <div class="modal-content"> <div class="modal-header"> <h4 class="modal-title" id="asn1820Label">simulazione ASN</h4> <button type="button" class="btn-close" data-bs-dismiss="modal" aria-hidden="true"></button> </div> <div class="modal-body with-padding"> Il report seguente simula gli indicatori relativi alla propria produzione scientifica in relazione alle soglie ASN 2023-2025 del proprio SC/SSD. Si ricorda che il superamento dei valori soglia (almeno 2 su 3) 猫 requisito necessario ma non sufficiente al conseguimento dell'abilitazione.<br/>La simulazione si basa sui dati IRIS e sugli indicatori bibliometrici alla data indicata e non tiene conto di eventuali periodi di congedo obbligatorio, che in sede di domanda ASN danno diritto a incrementi percentuali dei valori. La simulazione pu貌 differire dall'esito di un鈥檈ventuale domanda ASN sia per errori di catalogazione e/o dati mancanti in IRIS, sia per la variabilit脿 dei dati bibliometrici nel tempo. Si consideri che Anvur calcola i valori degli indicatori all'ultima data utile per la presentazione delle domande.<br/><br/>La presente simulazione 猫 stata realizzata sulla base delle specifiche raccolte sul tavolo ER del Focus Group IRIS coordinato dall鈥橴niversit脿 di Modena e Reggio Emilia e delle regole riportate nel DM 589/2018 e allegata Tabella A. Cineca, l鈥橴niversit脿 di Modena e Reggio Emilia e il Focus Group IRIS non si assumono alcuna responsabilit脿 in merito all鈥檜so che il diretto interessato o terzi faranno della simulazione. Si specifica inoltre che la simulazione contiene calcoli effettuati con dati e algoritmi di pubblico dominio e deve quindi essere considerata come un mero ausilio al calcolo svolgibile manualmente o con strumenti equivalenti.</div> <div class="modal-footer"> <button type="button" class="btn btn-secondary" data-bs-dismiss="modal">Annulla</button> <button type="button" class="btn btn-primary" onclick="location.href='/bi/asn1820/widgetSearch.htm?CLEAR&dataType=MV'">procedi</button> </div> </div> </div> </div> <div class="modal fade" id="genericFragmentErrorModal" tabindex="-1" role="dialog" aria-labelledby="modal-title" aria-hidden="true" style="z-index: 10000"> <div class="modal-dialog"> <div class="modal-content"> <div class="modal-header"> <h4 class="modal-title">Errore</h4> <button aria-hidden="true" data-bs-dismiss="modal" class="btn-close" type="button"></button> </div> <div class="modal-body with-padding"> <div class="callout alert bg-danger"> <h5>Errore</h5> <p id="genericFragmentErrorModalContent"></p> </div> </div> </div> </div> </div> <script type="text/javascript"> var forceLogindModuleMap = reloadInit(['bi','rm','gw','ma','','saiku','ap']); </script> </div> </main> </div> <div class="clearfix"></div> <footer class="bd-footer py-2 mt-2 bg-light d-flex justify-content-between fw-bold iu-hide"> <div class="ms-2"> Powered by <a class="text-decoration-none" href="https://www.cineca.it/sistemi-informativi-universita/ricerca/iris-la-gestione-della-ricerca">IRIS</a> <span style="margin-left: 10px; margin-right: 10px;">-</span> <a class="text-decoration-none" onclick="showAbout();" href="#">about IRIS</a> <span style="margin-left: 10px; margin-right: 10px;">-</span> <a class="text-decoration-none" onclick="showCookies();" href="#">Utilizzo dei cookie</a></div> <div class="me-2"> <a href="http://www.cineca.it" target="_blank"><img alt="Logo CINECA" height="15px;" src="/sr/cineca/images/interface/logo-cineca-small-white.png"></a> <span> Copyright © 2024 </span><a href="/htmlmap" style="display:none;"></a></div> </footer></body> </html>

CINXE.COM

Navigation of magnetic microrobots with different user interaction levels