@article{munoz2016size, title = {Size optimization of a magnetic system for drug delivery with capsule robots}, author = {Munoz, Fredy and Alici, Gursel and Li, Weihua and Sitti, Metin}, journal = {IEEE Transactions on Magnetics}, volume = {52}, number = {5}, pages = {1--11}, year = {2016}, doi = {10.1109/TMAG.2016.2519004} }