Modeling and Analysis of a Permanently Magnetized Sphere's Motion Facilitated by Field Manipulation. - Matthew G. Duvall; Prabhakar R. Pagilla; Eduardo A. Misawa (CDC, 2006)

Control of a Magnetized Spherical Particle Utilizing a Minimum Coil Set. - Matthew G. Duvall; Prabhakar R. Pagilla; Eduardo A. Misawa (ACC, 2007)