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Beccani, M., G. Aiello, N. Gkotsis, H. Tunc, A. Taddese, E. Susilo, P. Volgyesi, A. Ledeczi, E. De Momi, and P. Valdastri, "Component based design of a drug delivery capsule robot", Sensors and Actuators A: Physical, vol. 245: Elsevier, pp. 180–188, 2016.
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