Publications
Books
I. S. M. Khalil, A. Klingner, and S. Misra, “Mathematical modeling of swimming soft microrobots”, Academic Press. 2021.
Journals
V. Magdanz,, A. Klingner, L. Abelmann, and I. S. M. Khalil, “IRONSperm Swimming by Rigid-Body Rotation versus Transverse Bending Waves influenced by cell membrane charge”, Journal of Micro and Bio Robotics, 2023. In Press
Z. Wang, A. Klingner, V. Magdanz, S. Misra, and I. S. M. Khalil, “Soft Bio-Microrobots: Towards Biomedical Applications”, Advanced Intelligent Systems, 2023. In Press
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C. Li, S. Misra, and I. S. M. Khalil, “Closed-Loop Control Characterization of Untethered Small-Scale Helical Device in Physiological Fluid with Dynamic Flow Rates”, Advanced Intelligent Systems, January 2023.
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K. Zhang, A. Klingner, Y La Gars, S. Misra, V. Magdanz, and I. S. M. Khalil*, “Locomotion of bovine spermatozoa during the transition from individual cells to bundles”, The Proceedings of the National Academy of Sciences, vol. 120, no. 3, January 2023.
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V. D. Trikalitis, Niels J.J. Kroese, M. Kaya, C. Cofiño-Fabres, S. ten Den, I. S. M. Khalil, S. Misra, B.F.J.M. Koopman, R. Passier, V. Scwach, and J. Rouwkema, “Embedded 3D printing of dilute particle suspensions into dense complex tissue fibers using shear thinning xanthan baths ”, Biofabrication, vol. 15, December 2022.
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Z. Wang, A. Klingner, V. Magdanz, M. W. Hoppenreijs, S. Misra, and I. S. M. Khalil*, “Flagellar propulsion of sperm cells against a time-periodic interaction force”, Advanced Biology, October 2022.
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P. M. i Soler, C. Hidalgo, Z. Fekete, L. Zalanyi, I. S. M. Khalil, M. Yeste, and V. Magdanz , “Bundle formation of sperm: influence of environmental factors”, Frontiers in Endocrinology, 2022.
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N.A. El Gohary, A. Mahmoud, M.A. Nazmy, R. Zaabalawi, L. El Zahar, I.S.M. Khalil, and M.E. Mitwally, “Magnetic polycaprolactone microspheres: drug encapsulation and control”, International Journal of Polymeric Materials and Polymeric Biomaterials, October 2022.
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M. K. Welleweerd, T. Hageman, M. Pichel, D. van As, H. Keizer, J. Hendrix, M. M. Micheal, I. S. M. Khalil, A. Mir, N. Korkmaz, R. Kräwinkel, D. M. Chevrier, D. Faivre, A. Fernandez-Castane, D. Pfeiffer, and L Abelmann, “An open-source automated magnetic optical density meter for analysis of suspensions of magnetic cells and particles”, Review of Scientific Instruments, vol. 93, 094101, August 2022.
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K. Middelhoek, V. Magdanz, L. Abelmann, and I. S. M. Khalil, “Drug-Loaded IRONSperm clusters: modeling, wireless actuation, and ultrasound imaging”, Biomedical Materials, vol. 17, no. 6, September 2022.
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M. Kaya, F. Stein, P. Padmanaban, Z. Zhang, J. Rouwkema, I. S. M. Khalil, and S. Misra, “Visualization of micro-agents and surroundings by real-time multicolor fluorescence microscopy”, Scientific Reports, vol. 12, no. 1, August 2022.
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M. M. Micheal, A. Adel, C.-S. Kim, J.-Oh Park, S. Misra, and I. S. M. Khalil, “2D Magnetic Actuation and Localization of a Surface Milli-Roller in Low Reynolds Numbers”, IEEE Robotics & Automation Letters (RAL), vol. 7, no. 2, April 2022.
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R. Venezian and I. S. M. Khalil, “Understanding robustness of magnetically driven helical propulsion in viscous fluids using sensitivity analysis”, Advanced Theory and Simulations, vol. 5, no. 4, April 2022.
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J. Dias, D. Estima, H. Punte, A. Klingner, L. Marques, V. Magdanz, and I. S. M. Khalil, “Modeling and characterization of the passive bending stiffness of nanoparticle-coated sperm cells using magnetic excitation”, Advanced Theory and Simulations, vol. 5, no. 3, March 2022.
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M. Kaya, F. Stein, J. Rouwkema, I. S. M. Khalil, and S. Misra, “Serial imaging of micro-agents and cancer cell spheroids in a microfluidic channel using multicolor fluorescence microscopy”, PLoS ONE, vol. 16, no. 6: e0253222, June 2021.
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V. Magdanz, J. Vivaldi, S. Mohanty, A. Klingner, M. Vendittelli, J. Simmchen, S. Misra, and I. S. M. Khalil, “Impact of segmented magnetization on the flagellar propulsion of sperm-templated microrobots”, Advanced Science, vol. 8, no. 8, April 2021.
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N. Ebrahimi, C. Bi, D. J. Cappelleri, G. Ciuti, A. T. Conn, D. Faivre, N. Habibi, A. Hošovský, V. Iacovacci, I. S. M. Khalil, V. Magdanz, S. Misra, C. Pawashe, R. Rashidifar, P. E. D. SotoRodriguez, Z. Fekete, A. Jafari, “Magnetic actuation methods in bio/soft robotics”, Advanced Functional Materials, vol. 31, no. 11, March 2021.
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S. Mohanty, I. S. M. Khalil, and S. Misra, “Contactless acoustic micro/nano manipulation: a paradigm for next generation applications in life sciences”, Proceedings of the Royal Society A, vol. 476, no. 2243, November 2020.
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E. M. Saad, N. Abdelrehim El Gohary, B. M. El-Shenawy, H. Handoussa, A. Klingner, M. Elwi, Y. Hamed, I. S. M. Khalil, R. Mohamed El Nashar, and B. Mizaikoff, “Fabrication of Magnetic Molecularly Imprinted Beaded Fibers for Rosmarinic Acid”, Nanomaterials , vol. 10, no. 8, August 2020.
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I. S. M. Khalil, A. Klingner, Y, Hamed, Y. Hassan, and S. Misra, “Controlled non-contact manipulation of non-magnetic untethered microbeads orbiting two-tailed microrobot”, IEEE Transactions on Robotics, vol. 36, no. 4, August 2020.
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V. Magdanz, I. S. M. Khalil, J. Simmchen, G. P. Furtado, S Mohanty, J. Gebauer, H. Xu, A Klingner, A Aziz, M. Medina-Sánchez, O. G. Schmidt S. Misra, “IRONSperm: sperm-templated soft magnetic microrobots”, Science Advances, vol. 6. no. 28, July 2020.
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S. Mohanty, Q. Jin, G. P. Furtado, A. Gosh, G. Pahapale, I. S. M. Khalil, D. H. Gracias, and S. Misra, “Bi-directional propulsion of arc-shaped micro-swimmers driven by precessing magnetic fields”, Advanced Intelligent Systems, vol. 2, no. 9, May 2020.
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I. S. M. Khalil, V. Magdanz, J. Simmchen, A. Klingner and S. Misra, “Resemblance between motile and magnetically-actuated sperm cells”, Applied Physics Letters, vol. 116, no. 6, February 2020.
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M. Kaya, U. Sakthival, I. S. M. Khalil, and S. Misra, ‘‘Development of a coil driver for magnetic manipulation systems,’’ IEEE Magnetics Letters, vol. 10, 2104905, August 2019.
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I. S. M. Khalil, V. Magdanz, Y. Hamed, M. Toubar, A. Klingner and S. Misra, ‘‘Characterization of flagellar propulsion of soft microrobotic sperm in a viscous heterogeneous medium,’’ Frontiers in Robotics and AI, vol. 6, no. 65, July 2019.
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I. S. M. Khalil, A. Klingner, V. Magdanz, F. Striggow, M. M-Sanchez, O. G. Schmidt and S. Misra, ‘‘Modeling of Spermbots in a viscous colloidal suspension,’’ Advanced Theory and Simulations, 1900072, June 2019
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I. S. M. Khalil, A. Adel, D. Mahdy, M. M. Micheal, M. Mansour, N. Hamdi and S. Misra, ‘‘Magnetic localization and control of helical robots for clearing superficial blood clots,’’ APL Bioengineering, vol. 3, no. 2, 026104, May 2019. Featured Article
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A. Adel, M. Mansour, M. M. Micheal, A. Hassan, I. S. M. Khalil, and S. Misra, ''Magnetic localization for an electromagnetic-based haptic interface,'' IEEE Magnetics Letters, vol. 10, 2102705, March 2019.
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I. S. M. Khalil, A. F. Tabak, M. Abou Seif, A. Klingner, and Sitti, ‘‘Controllable switching between planar and helical flagellar swimming of a soft robotic sperm,’’ PLoS ONE, vol. 13, no. 11, pages 1-15, November 2018.
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M. P. Pichel, T. A. G. Hageman, I. S. M. Khalil, A. Manz , and L. Abelmann, ‘‘Magnetic response of magnetospirillum gryphiswaldense observed inside a microfluidic channel,’’ Journal of Magnetism and Magnetic Materials, vol. 460, pages 340-353, April 2018.
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D. Mahdy, R. Reda, N. Hamdi, and I. S. M. Khalil, “Ultrasound-Guided minimally invasive grinding for clearing blood clots: promises and challenges”, IEEE Instrumentation & Measurement Magazine, vol. 21, no. 2, pages 10-14, April 2018.
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I. S. M. Khalil, A. F. Tabak, Y. Hamed, M. Tawaol, N. A. El Gohary, B. Mizaikoff, and M. Sitti, “Independent actuation of two-tailed microrobots”, IEEE Robotics & Automation Letters (RAL), vol. 3, no. 3, pages 1703-1710, July 2018.
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I. S. M. Khalil, D. Mahdy, A. El Sharkawy, R. R. Moustafa, A. F. Tabak, M. Elwi, S. Hesham, N. Hamdi, A. Klingner, A. Mohamed, and M. Sitti, “Mechanical rubbing of blood clots using helical robots under ultrasound guidance”, IEEE Robotics & Automation Letters (RAL), vol. 3, no. 2, pages 1112-1119, April 2018.
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I. S. M. Khalil, A. F. Tabak, Y. Hamed, M. E. Mitwally, M. Tawakol, A. Klingner, and M. Sitti, “Swimming back and forth using planar flagellar propulsion at low Reynolds numbers,” Advanced Science, vol. 5, no. 2 (1700461), December 2017.
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A. Klingner, I. S. M. Khalil, V. Magdanz, V. M. Fomin, O. G. Schmidt, S. Misra, ‘‘Modeling of unidirectional-overloaded transition in catalytic tubular microjets’’, in The Journal of Physical Chemistry - Part C: Energy Conversion and Storage, Optical and Electronic Devices, Interfaces, Nanomaterials, and Hard Matter, vol. 121, no. 27, pages 14854–14863, June 2017.
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I. S. M. Khalil, A. F. Tabak, K. Sadek, D. Mahdy, N. Hamdi, and M. Sitti, “Rubbing against blood clots using helical robots: modeling and in vitro experimental validation”, IEEE Robotics & Automation Letters (RAL), vol. 2, no. 2, pages 927-934 , April 2017.
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I. S. M. Khalil, A. F. Tabak, A. Klingner and M. Sitti, “Magnetic propulsion of robotic sperms at low-Reynolds number”, Applied Physics Letters, vol. 109, no. 3, pages 033701, July 2016.
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I. S. M. Khalil, H. Abass, M. Shoukry, A. Klingner, R. M. El-Nashar, M. Serry and S. Misra, ''Robust and optimal control of magnetic microparticles inside fluidic channels with time-varying flow rates'', in International Journal of Advanced Robotic Systems, vol. 13, no. 123, June 2016.
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I. S. M. Khalil, V. Magdanz, S. Sanchez, O. G. Schmidt, S. Misra, ‘‘Precise localization and control of catalytic janus micromotors using weak magnetic fields’’, in International Journal of Advanced Robotic Systems, vol. 12, No. 2, January 2015.
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I. S. M. Khalil, L. Abelmann, and S. Misra, “Magnetic-based motion control of paramagnetic microparticles with disturbance compensation”, IEEE Transactions on Magnetics, vol. 50, no. 10: 5400110, October 2014.
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I. S. M. Khalil, V. Magdanz, S. O. Sanchez, O. G. Schmidt, and S. Misra, “Biocompatible, accurate, and fully autonomous: A sperm-driven micro-bio-robot“, Journal of Micro-Bio Robotics, vol. 9, no. 3-4, pages 79-86, August 2014.
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I. S. M. Khalil, H. C. Dijkslag, L. Abelmann, and S. Misra, “MagnetoSperm: A microrobot that navigates using weak magnetic fields”, Applied Physics Letters, vol. 104, no. 22: 223701-1-223701-4, June 2014. (Featured on the cover page)
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I. S. M. Khalil and S. Misra, “Control characteristics of magnetotactic bacteria:Magnetospirillum magnetotacticum strain MS-1 and M. magneticum strain AMB-1”, IEEE Transactions on Magnetics, vol. 50, no. 4: 1-11, April 2014.
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I. S. M. Khalil, V. Magdanz, S. O. Sanchez, O. G. Schmidt, and S. Misra, “The control of self-propelled microjets inside a microchannel with time-varying flow rates”, IEEE Transactions on Robotics, vol. 30, no. 1, pages 49-58, February 2014.
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I. S. M. Khalil, V. Magdanz, S. O. Sanchez, O. G. Schmidt, and S. Misra, “Wireless magnetic-based closed-loop control of self-propelled microjets”, PLoS ONE, vol. 9, no. 2: e83053, February 2014.
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I. S. M. Khalil, V. Magdanz, S. O. Sanchez, O. G. Schmidt, and S. Misra, “Three-dimensional closed-loop control of self-propelled microjets”, Applied Physics Letters, vol. 103, no. 17: 172404-1-172404-4, October 2013.
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I. S. M. Khalil, M. P. Pichel, L. Abelmann, and S. Misra, “Closed-loop control of magnetotactic bacteria”, International Journal of Robotics Research, vol. 32, no. 6, pages 636-648, May 2013.
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I. S. M. Khalil, E. D. Kunt, A. Sabanovic, “Action-reaction based parameters identification and states estimation of flexible systems”, Turkish Journal of Electrical Engineering & Computer Science, vol. 20, no. 1, pages 47-56, July 2012.
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E. D. Kunt, A. T. Naskali, I. S. M. Khalil, A. Sabanovic, E. Yuksel, ''Design and development of workstation for microparts manipulation and assembly'', Turkish Journal of Electrical Engineering & Computer Science, vol. 19, no. 6, pages 973-992, May 2011.
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I. S. M. Khalil, E. D. Kunt, A. Sabanovic, “A novel algorithm for sensorless motion control of flexible structures”, Turkish Journal of Electrical Engineering & Computer Science, vol. 18, no. 5, pages 799-817, July 2010.
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B. Çelebi, G. Çevik, B. Mehmet, I. S. M. Khalil, and A. Sabanoviç, “Motion control and vibration suppression of flexible lumped systems via sensorless LQR control”, Automatika, vol. 51, no. 4, pages 313–324, December 2010.
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I. S. M. Khalil and A. Sabanovic, “Sensorless wave-based control of flexible structures using actuator as a single platform for actuation and control”, International Review of Automatic Control, vol. 2, no. 1, pages 83-89, January 2009.
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Book Chapters
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I. S. M. Khalil, I. E. O. Gomaa, R. M. Abdel-Kader, and S. Misra, “Magnetic-based contact and non-contact manipulation of cell mockups and biological MCF-7 cells”, Smart Drug Delivery System, A. D. Sezer (Editor), SAGE, pages 219-235, February 2016.
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I. S. M. Khalil and S. Misra, “Biologically-Inspired microrobotics”, Micro and Nano Robotics in Medicine - Encyclopedia of Medical Robotics, J. P. Desai (Editor), World Scientific Publishing Company.
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I. S. M. Khalil and S. Misra, “Magnetotactic bacteria: characterization and control”, Microbiorobotics, M-J. Kim (Editor), Springer, January 2017. ISBN: 978-1-4557-7891-1
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I. S. M. Khalil, M. P. Pichel, L. Zondervan, L. Abelmann, and S. Misra, “Characterization and control of biological microrobots”, Experimental Robotics: Proceedings of the 13th International Symposium on Experimental Robotics (ISER), J. P. Desai, G. Dudek, O. Khatib, and V. Kumar (Editors), Springer Tracts in Advanced Robotics (STAR) 88, pages 617-631, June 2012.
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I. S. M. Khalil and A. Sabanovic, “Sensorless torque/force control”, Advances in Motor Torque Control, M. Ahmad (Editor), SAGE, pages 49-68, September 2011.
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Conference Publications
2023
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L.-J. W. Ligtenberg and I. S. M. Khalil, “Input-Output boundedness of a magnetically-actuated helical device”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), London, UK, May 2023.
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2022
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V. Magdanz, A. Klingner, L. Abelmann, I. S. M. Khalil, “Rigid-Body rotation versus transverse bending wave swimming of magnetically-functionalized sperm cells”, in Proceedings of the International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Toronto, Canada, 2022. Finalist for Best Application Paper Award
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C. Li, F. Halfwerk, J. Arens, S. Misra, M. Marle, and I. S. M. Khalil, “Controlled helical propulsion against the flow of a physiological fluid”, in Proceedings of the International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Toronto, Canada, 2022.
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E. van Renselaar, B. Keitel, M. Dinc, B. Mizaikoff, A. Susarrey-Arce, H. J. G. E. Gardeniers, L. Abelmann, and I. S. M. Khalil, “Scaling rules for microrobots with full energetic autonomy”, in Proceedings of the International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Toronto, Canada, 2022.
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2021
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V. Magdanz, A. Llobera, J. Fuentes, D. Mahdy, I. S. M. Khalil, M Guix, S. Sanchez, “3D printed magnet robots for cell delivery with tuned flexibility”, in International Conference on Miniaturized Systems for Chemistry and Life Sciences (µTAS 2021) , Palm Springs, California, October 2021.
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G. Lopez, A. Llobera, J. Fuentes, D. Mahdy, I. S.M. Khalil, M. Guix, S. Sanchez, V Magdanz, “Flexible magnetic 3D printed robots for cell and drug delivery”, in IBEC Symposium – Bioengineering for regenerative therapies, Barcelona, Spain, October 2021.
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R. Avaneesh, R. Venezian, C-S. Kim, J-O. Park, S. Misra, and I. S. M. Khalil, “Open-Loop magnetic actuation of helical robots using position-constrained rotating dipole field”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pages 8522-8527, Prague, Czech Republic, October 2021.
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2020
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Z. Zhang, A. Klingner, S. Misra, and I. S. M. Khalil, “Control of magnetically-driven screws in a viscoelastic Medium”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, October 2020.
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A. Klingner, D. Mahdy, B. Adel, M. Hanafi, S. Misra, and I. S. M. Khalil, “Helical propulsion in a viscous heterogeneous medium,” in Proceedings of the International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Toronto, Canada, July 2020.
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2019
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D. Mahdy, S. H. El Feshawy, M. Mansour, I. Basla, A. Mohamed, N. Hamdi, I. S. M. Khalil, and Sarthak Misra “Characterization of helical propulsion inside in vitro and ex vivo models of a rabbit aorta,” in Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin, Germany, July 2019.
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V. Magdanz, J. Gebauer, D. Mahdy, J. Simmchen, and I. S. M. Khalil, “Sperm-templated magnetic microrobots,” in Proceedings of the International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Helsinki, Finland, July 2019.
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2018
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I. S. M. Khalil, A. F. Tabak, Y. Hamed, M. Tawaol, N. A. El Gohary, B. Mizaikoff, and M. Sitti, “Independent actuation of two-tailed microrobots”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.
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I. S. M. Khalil, D. Mahdy, A. El Sharkawy, R. R. Moustafa, A. F. Tabak, M. Elwi, S. Hesham, N. Hamdi, A. Klingner, A. Mohamed, and M. Sitti, “Mechanical rubbing of blood clots using helical robots under ultrasound guidance”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. Finalist for Best Paper Award in Medical Robotics
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A. E. El-Etriby, A. F. Tabak, A. Klingner, and I. S. M. Khalil, “Manipulation of non-magnetic microbeads using soft microrobotic sperm”, in Proceedings of the International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Nagoya, Japan, July 2018.
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D. Mahdy, N. Hamdi, A. El Sharkawy, S. Hesham, and I. S. M. Khalil “The influence of mechanical rubbing on the dissolution of blood clots”, in Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, USA, July 2018.
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N. Serag El Din, M. Ewis, N. Yousry, O. Ahmed, I. Gomaa, A. Klingner, T. Hageman, M. Pichel, M. Mitwally, L. Abelmann, and I. S. M. Khalil “An investigation of the sensing capabilities of magnetotactic bacteria ”, in Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, USA, July 2018.
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Y. Hamed, M. Tawakol, L. El Zahar, A. Klingner, S. Abdennadher,, and I. S. M. Khalil, “Realization of a microrobot with multiple flexible flagella”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), The Netherlands, August 2018.
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I. S. M. Khalil, M. Hafez, A. Klingner, S. Scheggi, B. Adel, and S. Misra , “Near surface effects on the flagellar propulsion of soft robotic sperms”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), The Netherlands, August 2018.
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A. Adel, M. M. Micheal, M. Abou Seif, S. Abdennadher, and I. S. M. Khalil, “Rendering of volumetric shapes using an electromagnetic-based haptic system”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pages 8737-8742, Madrid, Spain, October 2018.
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2017
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I. S. M. Khalil, A. F. Tabak, M. Abou Seif, A. Klingner, B. Adel, M. Sitti, “Swimming in low Reynolds numbers using planar and helical flagellar waves”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pages 1907-1912, Vancouver, BC, Canada, September 2017.
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A. Adel, M. Abou Seif, G. Hoelzl, M. Kranz, S. Abdennadher, I. S. M. Khalil, “Rendering 3D virtual objects in mid-air using controlled magnetic fields”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pages 349-356, Vancouver, BC, Canada, September 2017.
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M. Abou Seif, A. Hassan, A. H. El-Shaer, S. Misra, and I. S. M. Khalil, “A magnetic bilateral tele-manipulation system using paramagnetic microparticles for micromanipulation of nonmagnetic objects”, in Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pages 1095-1102, Munich, Germany, 2017.
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I. S. M. Khalil, A. Alfar, A. F. Tabak, A. Klingner, S. Stramigioli, and M. Sitti, “Positioning of drug carriers using permanent magnet-based robotic system in three-dimensional space”, in Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pages 1117-1122, Munich, Germany, 2017.
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I. S. M. Khalil, A. F. Tabak, M. Mitwally, M. P. Pichel, T. Hageman, L. Abelmann, M. Sitti, “Near-Surface effects on the controlled motion of magnetotactic bacteria”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 5973-5982, Singapore, 2017.
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I. S. M. Khalil, A. F. Tabak, K. Sadek, D. Mahdy, N. Hamdi and M. Sitti, “Rubbing against blood clots using helical robots: modeling and in vitro experimental validation”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
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M. Alaa, A. Klingner, N. Hamdy, S. Abdennadher, and I. S. M. Khalil, “Independent control of nanoparticle clusters”, in Proceedings of the International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M Nano), Shanghai, China, pages 358-363, August 2017. Best Student Conference Paper Award
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D. Mahdy, A. Mohamed, A. Klingner, A. Tammam, A. Wahdan, M. Serry, and I. S. M. Khalil, “Experimental characterization of helical propulsion in newtonian fluids and viscoelastic environments”, in Proceedings of the International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M Nano), Shanghai, China, pages 319-322, August 2017.
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2016
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H. Hassan, M. Pichel, T. Hageman, L. Abelmann, I. S. M. Khalil, “Influence of the magnetic field on the two-dimensional control of magnetospirillum gryphiswaldense strain MSR-1”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pages 5119-5124, Daejeon, Korea, October 2016.
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I. S. M. Khalil, Y. Michel, B. Su, and S. Misra, “Feeling paramagnetic micro-particles trapped inside gas bubbles: a tele-manipulation study”, in Proceedings of the International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M Nano), page 225-230, Chongqing, China, July 2016. Best Application Paper Award
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A. H. El-Shaer, M. Al Janaideh and I. S. M. Khalil, “Robust servo control using PI-Luenberger observers with application to nonlinear piezo-electrically actuated systems”, in Proceedings of the American Control Conference (ACC), pages 1317- 1322, Boston, MA, USA, July 2016.
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H. Abbass, M. S. Shoukry, S. Misra, and I. S. M. Khalil, “Robust motion control of paramagnetic micro-particles against time-varying flow rates”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages 67-72, Singapore, June 2016.
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A. Hosney, J. Abdalla, I. S. Amin, N. Hamdi, and I. S. M. Khalil, “In vitro validation of clearing clogged vessels using microrobots”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages 272-277, Singapore, June 2016.
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M. Elfar, M. Ayoub, A. Sameh, H. Abass, R. M. Abdel-Kader, I. Gomaa, and I. S. M. Khalil, “Targeted penetration of MCF-7 cells using iron-oxide nanoparticles in vitro”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages 260-265, Singapore, June 2016.
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I. S. M. Khalil, A. F. Tabak, A. Hosney, A. Klingner, M. Shalaby, R. M. Abdel-Kader, M. Serry, and M. Sitti, “Targeting of cell mockups using sperm-shaped microrobots in vitro”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages 495-501, Singapore, June 2016.
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I. S. M. Khalil, A. F. Tabak, A. Hosney, A. Mohamed, A. Klingner, M. Ghoneima and M. Sitti, “Sperm-Shaped magnetic microrobots: fabrication using electrospinning, modeling, and characterization”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1939-1944, Stockholm, Sweden, May 2016.
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I. S. M. Khalil, R. M. Abdel-Kader, I. E. O. Gomaa, N. Serag, A. Klingner, and Mohamed Elwi, “Targeting of cancer cells using controlled nanoparticles and robotics sperms”, in Proceedings of the International Conference of Photodynamics and Nanomedicine for Health Sciences (ICPN), Cairo, Egypt. December 2016
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2015
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A. El-Gazzar, L. Al-khouly, A. Klingner, S. Misra, and I. S. M. Khalil, “Non-contact manipulation of microbeads via pushing and pulling using magnetically controlled clusters of paramagnetic microparticles”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pages 778-783, September-October 2015.
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A. Hosney, A. Klingner, S. Misra, and I. S. M. Khalil, “Propulsion and steering of helical magnetic microrobots using two synchronized rotating dipole fields in three-dimensional space”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pages 1988-1993, September-October 2015.
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K. Youakim, M. Ehab, O. Hatem, S. Misra, and I. S. M. Khalil, “Paramagnetic microparticles sliding on a surface: characterization and closed-loop motion control”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, pages 4068-4073, May-June 2015.
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I. S. M. Khalil, B. E. Wissa, B. G. Salama, and S. Stramigioli, “Wireless motion control of paramagnetic microparticles using a magnetic-based robotic system with an open-configuration," In Proceedings of the International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M Nano), pages 190-196, Changchun, China, October 2015. Best Application Paper Award
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2014
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A. Sánchez, Y. M. Sadek, I. S. M. Khalil and S. Misra, “Mobi-Mag: a compact device for medical research using wireless control of magnetic microrobots”, in European Conference on Design of Medical Devices, Delft, pages 22-24, October 2014.
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I. S. M. Khalil, K. Youakim, A. Sánchez , and S. Misra, “Magnetic-based motion control of sperm-shaped microrobots using weak oscillating magnetic fields”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, pages 4686-4691, September 2014.
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M. E. Alshafeei, A. Hosney, A. Klingner, S. Misra and I. S. M. Khalil, “Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil, pages 151-156, August 2014.
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M. Pichel, L. Zondervan, I. S. M. Khalil, S. Misra, and L. Abelmann, “Magnetic and viscous drag torque of microfabricated elements and magnetotactic bacteria”, in Proceedings of the International Magnetics Conference (INTERMAG), Dresden, Germany, May 2014.
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W. Sun, I. S. M. Khalil, S. Misra, and R. Alterovitz, “Motion planning for paramagnetic microparticles under motion and sensing uncertainty”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pages 5811-5817, May-June 2014.
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I. S. M. Khalil, P. Ferreira, R. Eleutério, C. L. de Korte, and S. Misra, “Magnetic-based closed-loop control of paramagnetic microparticles using ultrasound feedback”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pages 3807-3812, May-June 2014.
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2013
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I. S. M. Khalil, R. M. P. Metz, B. A. Reefman, and S. Misra, “Magnetic-based minimum input motion control of paramagnetic microparticles in three-dimensional space”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, pages 2053-2058, November 2013.
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I. S. M. Khalil, V. Magdanz, S. Sanchez, O. G. Schmidt, and S. Misra, “Magnetotactic bacteria and microjets: a comparative study”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, pages 2035-2040, November 2013.
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I. S. M. Khalil, V. Magdanz, S. Sanchez, O. G. Schmidt, L. Abelmann, and S. Misra, “Magnetic control of potential microrobotic drug delivery systems: nanoparticles, magnetotactic bacteria and self-propelled microjets”, in Proceedings of the IEEE Engineering in Medicine and Biology Society (EMBC), pages 5299-5302, Osaka, Japan, July 2013.
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I. S. M. Khalil, F. van den Brink, O. S. Sukas, L. Abelmann, and S. Misra, “Microassembly using a cluster of paramagnetic microparticles”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pages 5507-5512, May 2013.
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I. S. M. Khalil, M. P. Pichel, B. A. Reefman, O. S. Sukas, L. Abelmann, and S. Misra, “Control of magnetotactic bacterium in a micro-fabricated maze”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pages 5488-5493, May 2013.
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2012
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I. S. M. Khalil, L. Abelmann, and S. Misra, “Interaction force estimation during manipulation of microparticles”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, pages 950-956, October 2012.
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I. S. M. Khalil, A. Sabanovic, and S. Misra, “An energy-based state observer for dynamical subsystems with inaccessible state variables”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, pages 3734-3740, October 2012.
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I. S. M. Khalil, J. D. Keuning, L. Abelmann, and S. Misra, “Wireless magnetic-based control of paramagnetic microparticles”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, pages 460-466, June 2012.
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I. S. M. Khalil, M. P. Pichel, L. Abelmann, and S. Misra, "Characterization and control of biological microrobots," in Proceeding of the International Symposium on Experimental Robotics (ISER), Quebec City, Canada, June 2012.
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I. S. M. Khalil, L. Abelmann, and S. Misra, “Control system design for wireless electromagnetic-based micromanipulation system”, in Book of Abstracts of The Benelux Meeting on Systems and Control (Disk), Heijden, The Netherlands, page 39, March 2012.
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2011
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I. S. M. Khalil, E. Globovic, and A. Sabanovic, “High precision motion control of parallel robots with imperfections and manufacturing tolerances”, in Proceedings of the IEEE International Conference on Mechatronics (ICM), Istanbul, Turkey, pages 39-44, April 2011.
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I. S. M. Khalil, B. Celebi, G. Cevik, B. Mehmet, and A. Sabanovic, “Optimal motion control and vibration suppression of flexible systems with inaccessible outputs”, in Proceedings of the IEEE International Conference on Mechatronics (ICM), Istanbul, Turkey, pages 534 -539, April 2011.
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I. S. M. Khalil, A. O. Nargiz, and A. Sabanovic, “A novel state observer for dynamical systems with inaccessible outputs”, in Proceedings of the IEEE International Conference on Mechatronics (ICM), Istanbul, Turkey, pages 206-211, April 2011.
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2010
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E. Globovic, I. S. M. Khalil and A. Sabanovic, "Laser autofocusing: a sliding mode approach," in Proceedings of the IEEE International Conference on Industrial Technology (IECON), Phoenix, USA, pages 1627-1632, November 2010.
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I. S. M. Khalil and A. Sabanovic, "Sensorless action-reaction-based residual vibration suppression for multi-degree-of-freedom flexible systems," in Proceedings of the IEEE International Conference on Industrial Technology (IECON), Phoenix, USA, pages 1627-1632, November 2010.
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I. S. M. Khalil and A. Sabanovic, "Action-reaction-based parameters identification and states estimation of flexible systems," in Proceedings of the IEEE International Conference on Industrial Technology (ISIE), Pari, Italy, pages 46-51, July 2010.
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2009
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I. S. M. Khalil and A. Sabanovic, "Estimation-based control of flexible system-sensorless wave-based technique," in Proceedings of the IEEE International Conference of Emerging Technologies & Factory Automation (ETFA), Mallorca, Spain, pages 1-6, September 2009.
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I. S. M. Khalil and A. Sabanovic, "Sensorless torque estimation in multidegree-of-freedom flexible system," in Proceedings of the IEEE International Conference on Industrial Technology (IECON), Porto, Portugal, pages 2354-2359, November 2009.
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I. S. M. Khalil, A. T. Naskali, and A. Sabanovic, "Force control in multidegree-of-freedom flexible systems - sensorless technique," in Proceedings of the IEEE International Conference Computational Intelligence in Robotics & Automation (CIRA), Daejeon, South Korea, pages 199-204, December 2009.
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I. S. M. Khalil, A. T. Naskali, and A. Sabanovic, "On fraction order modeling and control of dynamical systems," in Proceedings of the International Conference on Intelligent Control Systems and Signal Processing (ICON), Istanbul, Turkey, pages 192-196, September 2009.
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I. S. M. Khalil, E. D. Kunt, and A. Sabanovic, "Estimation-based PID controller-sensorless wave-based technique," in Proceedings of the International Conference on Intelligent Control Systems and Signal Processing (ICON), Istanbul, Turkey, pages 266–271, September 2009.
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