@article{fan2021dynamic,
  title={Dynamic magnetic field generation with high accuracy modeling applied to magnetic robots},
  author={Fan, Qigao and Zhang, Pengsong and Qu, Juntian and Huang, Wentao and Liu, Xinyu and Xie, Linbo},
  journal={IEEE Transactions on Magnetics},
  volume={57},
  number={7},
  pages={1--10},
  year={2021},
  publisher={IEEE}
}