@article{yim2013magnetically,
  title = {Magnetically Actuated Soft Capsule With the Multimodal Drug Release Function},
  journal = {IEEE/ASME Trans. on Mechatronics},
  volume = {18},
  number = {4},
  pages = {1413--1418},
  publisher = {IEEE},
  year = {2013},
  author = {Yim, Sehyuk and Goyal, Kartik and Sitti, Metin}
}