<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-00768520</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-25T05:15:43+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Scaled-up Helical Nanobelt Modeling and Simulation at Low Reynolds Numbers.</title>
            <author role="aut">
              <persName>
                <forename type="first">Tiantian</forename>
                <surname>Xu</surname>
              </persName>
              <email type="md5">2b5150cc5b40ad06185c44bb1b16a109</email>
              <email type="domain">isir.upmc.fr</email>
              <idno type="idhal" notation="numeric">934530</idno>
              <idno type="halauthorid" notation="string">681153-934530</idno>
              <affiliation ref="#struct-96164"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Gilgueng</forename>
                <surname>Hwang</surname>
              </persName>
              <email type="md5">f0489bf96ad5f1ae52c443900b15ef84</email>
              <email type="domain">if.t.u-tokyo.ac.jp</email>
              <idno type="idhal" notation="string">gilgueng-hwang</idno>
              <idno type="idhal" notation="numeric">741608</idno>
              <idno type="halauthorid" notation="string">51933-741608</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-3232-3085</idno>
              <idno type="IDREF">https://www.idref.fr/18131889X</idno>
              <affiliation ref="#struct-411"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Nicolas</forename>
                <surname>Andreff</surname>
              </persName>
              <email type="md5">0132fef52883114631b103b90d54ac25</email>
              <email type="domain">univ-bpclermont.fr</email>
              <idno type="idhal" notation="numeric">1276579</idno>
              <idno type="halauthorid" notation="string">699272-1276579</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-5687-5533</idno>
              <idno type="IDREF">https://www.idref.fr/154344710</idno>
              <idno type="VIAF">https://viaf.org/viaf/212298856</idno>
              <idno type="ISNI">http://isni.org/isni/0000000359080407</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=tRev5XkAAAAJ</idno>
              <affiliation ref="#struct-866"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Stéphane</forename>
                <surname>Régnier</surname>
              </persName>
              <email type="md5">a6fd8cd20b9ad74e6a3e03235987c243</email>
              <email type="domain">sorbonne-universite.fr</email>
              <idno type="idhal" notation="string">regnierstephane</idno>
              <idno type="idhal" notation="numeric">745212</idno>
              <idno type="halauthorid" notation="string">13401-745212</idno>
              <idno type="IDREF">https://www.idref.fr/123004314</idno>
              <idno type="ORCID">https://orcid.org/0009-0000-5867-687X</idno>
              <idno type="RESEARCHERID">http://www.researcherid.com/rid/P-2533-2014</idno>
              <idno type="ISNI">http://isni.org/isni/0000000077348794</idno>
              <idno type="VIAF">https://viaf.org/viaf/106783018</idno>
              <idno type="RESEARCHERID">http://www.researcherid.com/rid/http://www.researcherid.com/rid/P-2533-2014</idno>
              <affiliation ref="#struct-96164"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Martine</forename>
                <surname>Azema</surname>
              </persName>
              <email type="md5">24ed69d7786a56d94e443068b8e2a026</email>
              <email type="domain">ens2m.fr.invalid</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2012-12-21 17:22:17</date>
              <date type="whenWritten">2011-09</date>
              <date type="whenModified">2026-05-13 03:21:49</date>
              <date type="whenReleased">2012-12-21 19:58:30</date>
              <date type="whenProduced">2012-05-14</date>
              <date type="whenEndEmbargoed">2012-12-21</date>
              <ref type="file" target="https://hal.science/hal-00768520v1/document">
                <date notBefore="2012-12-21"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-00768520v1/file/ICRA2012_Xu-3.pdf" id="file-768520-664429">
                <date notBefore="2012-12-21"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="117362">
                <persName>
                  <forename>Martine</forename>
                  <surname>Azema</surname>
                </persName>
                <email type="md5">24ed69d7786a56d94e443068b8e2a026</email>
                <email type="domain">ens2m.fr.invalid</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-00768520</idno>
            <idno type="halUri">https://hal.science/hal-00768520</idno>
            <idno type="halBibtex">xu:hal-00768520</idno>
            <idno type="halRefHtml">&lt;i&gt;IEEE International Conference on Robotics and Automation, ICRA'12.&lt;/i&gt;, May 2012, RiverCentre, Saint Paul, Minnesota, United States. pp.4045-4051</idno>
            <idno type="halRef">IEEE International Conference on Robotics and Automation, ICRA'12., May 2012, RiverCentre, Saint Paul, Minnesota, United States. pp.4045-4051</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-768520-664429"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UPMC" corresp="SORBONNE-UNIVERSITE">Université Pierre et Marie Curie</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-BM">Université de Technologie de Belfort-Montbeliard</idno>
            <idno type="stamp" n="ENSMM">Ecole Nationale Supérieure de Mécanique et des Microtechniques</idno>
            <idno type="stamp" n="UNIV-BM-THESE">Université de Technologie de Belfort-Montbeliard</idno>
            <idno type="stamp" n="ISIR" corresp="SORBONNE-UNIVERSITE">Institut des Systèmes Intelligents et de Robotique</idno>
            <idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
            <idno type="stamp" n="UPMC_POLE_1" corresp="UPMC">UPMC Pôle 1</idno>
            <idno type="stamp" n="SORBONNE-UNIVERSITE">Sorbonne Université</idno>
            <idno type="stamp" n="SU-SCIENCES" corresp="SORBONNE-UNIVERSITE">Faculté des Sciences de Sorbonne Université</idno>
            <idno type="stamp" n="SU-TI">Sorbonne Université - Texte Intégral</idno>
            <idno type="stamp" n="ALLIANCE-SU"> Alliance Sorbonne Université</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Scaled-up Helical Nanobelt Modeling and Simulation at Low Reynolds Numbers.</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Tiantian</forename>
                    <surname>Xu</surname>
                  </persName>
                  <email type="md5">2b5150cc5b40ad06185c44bb1b16a109</email>
                  <email type="domain">isir.upmc.fr</email>
                  <idno type="idhal" notation="numeric">934530</idno>
                  <idno type="halauthorid" notation="string">681153-934530</idno>
                  <affiliation ref="#struct-96164"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Gilgueng</forename>
                    <surname>Hwang</surname>
                  </persName>
                  <email type="md5">f0489bf96ad5f1ae52c443900b15ef84</email>
                  <email type="domain">if.t.u-tokyo.ac.jp</email>
                  <idno type="idhal" notation="string">gilgueng-hwang</idno>
                  <idno type="idhal" notation="numeric">741608</idno>
                  <idno type="halauthorid" notation="string">51933-741608</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-3232-3085</idno>
                  <idno type="IDREF">https://www.idref.fr/18131889X</idno>
                  <affiliation ref="#struct-411"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Nicolas</forename>
                    <surname>Andreff</surname>
                  </persName>
                  <email type="md5">0132fef52883114631b103b90d54ac25</email>
                  <email type="domain">univ-bpclermont.fr</email>
                  <idno type="idhal" notation="numeric">1276579</idno>
                  <idno type="halauthorid" notation="string">699272-1276579</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-5687-5533</idno>
                  <idno type="IDREF">https://www.idref.fr/154344710</idno>
                  <idno type="VIAF">https://viaf.org/viaf/212298856</idno>
                  <idno type="ISNI">http://isni.org/isni/0000000359080407</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=tRev5XkAAAAJ</idno>
                  <affiliation ref="#struct-866"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Stéphane</forename>
                    <surname>Régnier</surname>
                  </persName>
                  <email type="md5">a6fd8cd20b9ad74e6a3e03235987c243</email>
                  <email type="domain">sorbonne-universite.fr</email>
                  <idno type="idhal" notation="string">regnierstephane</idno>
                  <idno type="idhal" notation="numeric">745212</idno>
                  <idno type="halauthorid" notation="string">13401-745212</idno>
                  <idno type="IDREF">https://www.idref.fr/123004314</idno>
                  <idno type="ORCID">https://orcid.org/0009-0000-5867-687X</idno>
                  <idno type="RESEARCHERID">http://www.researcherid.com/rid/P-2533-2014</idno>
                  <idno type="ISNI">http://isni.org/isni/0000000077348794</idno>
                  <idno type="VIAF">https://viaf.org/viaf/106783018</idno>
                  <idno type="RESEARCHERID">http://www.researcherid.com/rid/http://www.researcherid.com/rid/P-2533-2014</idno>
                  <affiliation ref="#struct-96164"/>
                </author>
              </analytic>
              <monogr>
                <title level="m">Conference on Robotics and Automation.</title>
                <meeting>
                  <title>IEEE International Conference on Robotics and Automation, ICRA'12.</title>
                  <date type="start">2012-05-14</date>
                  <date type="end">2012-05-18</date>
                  <settlement>RiverCentre, Saint Paul, Minnesota</settlement>
                  <country key="US">United States</country>
                </meeting>
                <editor>IEEE</editor>
                <imprint>
                  <biblScope unit="volume">sur CD</biblScope>
                  <biblScope unit="pp">4045-4051</biblScope>
                  <date type="datePub">2012</date>
                </imprint>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>Micro and nanorobots can change many aspects of medicine by enabling targeted diagnosis and therapy, and minimal invasive surgery. A helical nanobelt with a magnetic head was proposed as a microrobot driven by rotating magnetic field in prior works. Magnetically coated tails were already shown in some works. However the control of such surface magnetic tails is not clearly realized yet. This paper aims to obtain control parameters for the modeling and simulation of the influence of surface magnets onto the swimming performances. For this, we created scaled-up helical nanobelts and the experimental testbed to get the control parameters and to prepare future closed-loop control.</p>
            </abstract>
            <particDesc>
              <org type="consortium">EMERGENCE-UPMC-2011.</org>
            </particDesc>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-96164" status="OLD">
          <idno type="RNSR">200918463J</idno>
          <orgName>Institut des Systèmes Intelligents et de Robotique</orgName>
          <orgName type="acronym">ISIR</orgName>
          <date type="start">2002-01-01</date>
          <date type="end">2017-12-31</date>
          <desc>
            <address>
              <addrLine>Université Pierre et Marie Curie - Paris VI Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.isir.upmc.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-93591" type="direct"/>
            <relation name="UMR7222 / FRE2507" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-411" status="OLD">
          <orgName>Laboratoire de photonique et de nanostructures</orgName>
          <orgName type="acronym">LPN</orgName>
          <date type="start">1976-01-01</date>
          <date type="end">2016-12-31</date>
          <desc>
            <address>
              <addrLine>Route de Nozay 91460 MARCOUSSIS</addrLine>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation name="UPR20" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-866" status="VALID">
          <idno type="IdRef">152639071</idno>
          <idno type="RNSR">200412232H</idno>
          <idno type="ROR">https://ror.org/004fmxv66</idno>
          <orgName>Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)</orgName>
          <orgName type="acronym">FEMTO-ST</orgName>
          <date type="start">2004-01-01</date>
          <desc>
            <address>
              <addrLine>32 avenue de l'Observatoire 25044 BESANCON CEDEX</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.femto-st.fr</ref>
          </desc>
          <listRelation>
            <relation name="UMR 6174" active="#struct-300261" type="direct"/>
            <relation active="#struct-300360" type="direct"/>
            <relation name="UMR6174" active="#struct-441569" type="direct"/>
            <relation active="#struct-458810" type="direct"/>
            <relation active="#struct-426438" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-93591" status="OLD">
          <idno type="ROR">https://ror.org/02en5vm52</idno>
          <orgName>Université Pierre et Marie Curie - Paris 6</orgName>
          <orgName type="acronym">UPMC</orgName>
          <date type="end">2017-12-31</date>
          <desc>
            <address>
              <addrLine>4 place Jussieu - 75005 Paris</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.upmc.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-300261" status="VALID">
          <orgName>Université de Technologie de Belfort-Montbeliard</orgName>
          <orgName type="acronym">UTBM</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-300360" status="VALID">
          <idno type="IdRef">201436736</idno>
          <idno type="ROR">https://ror.org/05813w841</idno>
          <orgName>Ecole Nationale Supérieure de Mécanique et des Microtechniques</orgName>
          <orgName type="acronym">ENSMM</orgName>
          <desc>
            <address>
              <addrLine>École Nationale Supérieure de Mécanique et des Microtechniques26, rue de l'épitapheCS 5181325030 BESANÇON CEDEX - FRANCE</addrLine>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-458810" status="VALID">
          <idno type="IdRef">026403188</idno>
          <idno type="ISNI">0000000121883779</idno>
          <idno type="ROR">https://ror.org/03pcc9z86</idno>
          <orgName>Université Marie et Louis Pasteur</orgName>
          <orgName type="acronym">UMLP</orgName>
          <desc>
            <address>
              <addrLine>1 rue Goudimel25030 Besançon cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.umlp.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-426438" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-426438" status="VALID">
          <idno type="IdRef">200716271</idno>
          <idno type="ISNI">0000 0004 4910 6615</idno>
          <idno type="ROR">https://ror.org/02dn7x778</idno>
          <orgName>Université Bourgogne Franche-Comté [COMUE]</orgName>
          <orgName type="acronym">UBFC</orgName>
          <date type="start">2015-04-01</date>
          <date type="end">2024-12-31</date>
          <desc>
            <address>
              <addrLine>32, avenue de l’observatoire25000 BESANCON</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ubfc.fr</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>