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Cited article:

A Magnetically Actuated Novel Robotic Capsule for Site-Specific Drug Delivery Inside the Gastrointestinal Tract

Hao Zhou and Gursel Alici
IEEE Transactions on Systems, Man, and Cybernetics: Systems 52 (6) 4010 (2022)
https://doi.org/10.1109/TSMC.2021.3088952