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Cited article:

Mobile robots with magnetizable materials in alternating uniform inclined magnetic fields

D.I. Merkulov, D.A. Pelevina, V.A. Turkov, A.S. Vinogradova and V.A. Naletova
Acta Astronautica 181 579 (2021)
https://doi.org/10.1016/j.actaastro.2020.11.052