{"id":"https://openalex.org/W2000707183","doi":"https://doi.org/10.1243/09596518jsce419","title":"An adaptive learning algorithm for controlling a two-degree-of-freedom serial ball-and-socket actuator","display_name":"An adaptive learning algorithm for controlling a two-degree-of-freedom serial ball-and-socket actuator","publication_year":2007,"publication_date":"2007-11-01","ids":{"openalex":"https://openalex.org/W2000707183","doi":"https://doi.org/10.1243/09596518jsce419","mag":"2000707183"},"language":"en","primary_location":{"id":"doi:10.1243/09596518jsce419","doi":"https://doi.org/10.1243/09596518jsce419","is_oa":false,"landing_page_url":"https://doi.org/10.1243/09596518jsce419","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113820258","display_name":"H.M.A.A. Al-Assadi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I130343225","display_name":"Universiti Putra Malaysia","ror":"https://ror.org/02e91jd64","country_code":"MY","type":"education","lineage":["https://openalex.org/I130343225"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"H M A A Al-Assadi","raw_affiliation_strings":["Mechanical and Manufacturing Engineering, UPM, Cherase, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Manufacturing Engineering, UPM, Cherase, Malaysia","institution_ids":["https://openalex.org/I130343225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029670996","display_name":"A.M.S. Hamouda","orcid":"https://orcid.org/0000-0001-8022-4319","observed_orcids":["https://orcid.org/0000-0001-8022-4319"]},"institutions":[{"id":"https://openalex.org/I60342839","display_name":"Qatar University","ror":"https://ror.org/00yhnba62","country_code":"QA","type":"education","lineage":["https://openalex.org/I60342839"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"A. M. S. Hamouda","raw_affiliation_strings":["Department of Mechanical and Industrial System Engineering, University of Qatar, Doha, Qatar"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial System Engineering, University of Qatar, Doha, Qatar","institution_ids":["https://openalex.org/I60342839"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100745958","display_name":"Napsiah Binti Ismail","orcid":"https://orcid.org/0000-0003-0701-5742","observed_orcids":["https://orcid.org/0000-0003-0701-5742"]},"institutions":[{"id":"https://openalex.org/I130343225","display_name":"Universiti Putra Malaysia","ror":"https://ror.org/02e91jd64","country_code":"MY","type":"education","lineage":["https://openalex.org/I130343225"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"N Ismail","raw_affiliation_strings":["Mechanical and Manufacturing Engineering, UPM, Cherase, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Manufacturing Engineering, UPM, Cherase, Malaysia","institution_ids":["https://openalex.org/I130343225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048757813","display_name":"Ishak b. Aris","orcid":"https://orcid.org/0000-0003-0864-8656","observed_orcids":["https://orcid.org/0000-0003-0864-8656","https://orcid.org/0009-0001-6843-6930"]},"institutions":[{"id":"https://openalex.org/I130343225","display_name":"Universiti Putra Malaysia","ror":"https://ror.org/02e91jd64","country_code":"MY","type":"education","lineage":["https://openalex.org/I130343225"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"I Aris","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Universiti Putra Malaysia, Selangor, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Universiti Putra Malaysia, Selangor, Malaysia","institution_ids":["https://openalex.org/I130343225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":4150,"currency":"USD","value_usd":4150},"apc_paid":null,"fwci":2.5953,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.89692768,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":"221","issue":"7","first_page":"1001","last_page":"1006"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.4372999966144562,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.4372999966144562,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.2865999937057495,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.06539999693632126,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/two-degree-of-freedom-actuator","display_name":"two-degree-of-freedom actuator","score":0.9539999961853027},{"id":"https://openalex.org/keywords/neural-network-control","display_name":"neural network control","score":0.8690000176429749},{"id":"https://openalex.org/keywords/adaptive-learning-algorithms","display_name":"adaptive learning algorithms","score":0.8859999775886536},{"id":"https://openalex.org/keywords/compliant-actuators","display_name":"compliant actuators","score":0.6940000057220459},{"id":"https://openalex.org/keywords/offline-training","display_name":"offline training","score":0.6959999799728394},{"id":"https://openalex.org/keywords/online-control","display_name":"online control","score":0.6290000081062317}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8174582123756409},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7306361198425293},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6416923403739929},{"id":"https://openalex.org/C2777606094","wikidata":"https://www.wikidata.org/wiki/Q1791122","display_name":"Ball screw","level":3,"score":0.5773613452911377},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5290336012840271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5203682780265808},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5185425877571106},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.4971185028553009},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4604606628417969},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.43540772795677185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.400985985994339},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3669937551021576},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3640616536140442},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21817883849143982},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18088757991790771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15696865320205688},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09111431241035461},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09041863679885864},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07067397236824036},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C206391251","wikidata":"https://www.wikidata.org/wiki/Q1186738","display_name":"Nut","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1243/09596518jsce419","doi":"https://doi.org/10.1243/09596518jsce419","is_oa":false,"landing_page_url":"https://doi.org/10.1243/09596518jsce419","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1538315967","https://openalex.org/W1964809733","https://openalex.org/W1974239911","https://openalex.org/W1976668646","https://openalex.org/W1987100249","https://openalex.org/W1992975564","https://openalex.org/W2006704256","https://openalex.org/W2048425640","https://openalex.org/W2051392326","https://openalex.org/W2058651536","https://openalex.org/W2063540175","https://openalex.org/W2065750785","https://openalex.org/W2075819424","https://openalex.org/W2080461899","https://openalex.org/W2088977667","https://openalex.org/W2111980775","https://openalex.org/W2122501644","https://openalex.org/W2129182327","https://openalex.org/W2131156198","https://openalex.org/W2149350706","https://openalex.org/W2167982243","https://openalex.org/W2174684259"],"related_works":["https://openalex.org/W1589742662","https://openalex.org/W2056157338","https://openalex.org/W1660486714","https://openalex.org/W2144728548","https://openalex.org/W2320280189","https://openalex.org/W2014873804","https://openalex.org/W114497497","https://openalex.org/W46940079","https://openalex.org/W2298162153","https://openalex.org/W1838511565"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"article":[2],"presents":[3],"the":[4,31,34,50,55,64,71,84,130,138,147,154,162,172,177],"development":[5],"and":[6,39,60,110,141],"implementation":[7],"of":[8,33,42,63,70,152,161],"an":[9,80],"artificial":[10],"neural":[11],"network":[12],"(ANN)":[13],"for":[14,29,112,158],"controlling":[15],"a":[16,26,95,166],"new":[17],"two-degree-of-freedom":[18],"(2DOF)":[19],"serial":[20],"ball-and-socket":[21,74,96,163],"actuator.":[22,72,89],"The":[23,73,90,119,150],"ANN":[24,47,113],"is":[25],"well-known":[27],"algorithm":[28,133],"simulating":[30],"ability":[32],"human":[35],"brain":[36],"to":[37,53,83,114,125,171],"learn":[38,49,115],"predict":[40],"sets":[41],"information.":[43],"In":[44],"this":[45],"approach,":[46],"will":[48],"control":[51,104,127,148,156],"parameters":[52],"obtain":[54],"angular":[56,58,61],"displacement,":[57],"velocity,":[59],"acceleration":[62],"end-effector":[65,170],"without":[66],"any":[67,135],"prior":[68],"knowledge":[69,157],"actuator":[75,82,91,139,164,169],"has":[76],"been":[77,107],"proposed":[78],"as":[79],"alternative":[81],"conventional":[85],"one-degree-of-freedom":[86],"(1DOF)":[87],"revolute":[88],"was":[92,122],"fabricated":[93],"from":[94],"joint":[97],"powered":[98],"by":[99],"two":[100],"electrohydraulic":[101],"cylinders.":[102],"Experimental":[103],"data":[105],"had":[106],"collected":[108],"manually":[109],"provided":[111],"in":[116,137],"off-line":[117],"mode.":[118],"training":[120],"process":[121],"carried":[123],"out":[124],"build":[126,155],"knowledge.":[128,149],"Thus,":[129],"adaptive":[131],"learning":[132],"adopts":[134],"modification":[136],"mechanism":[140],"hydraulic":[142],"power":[143],"system":[144],"through":[145],"updating":[146],"results":[151],"implementing":[153],"on-line":[159],"operation":[160],"shows":[165],"fully":[167],"compliant":[168],"desired":[173],"dynamic":[174],"behaviour":[175],"within":[176],"workspace.":[178]},"counts_by_year":[{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-11-12T12:28:57.059296","created_date":"2016-06-24T00:00:00"}