{"id":"https://openalex.org/W2095341900","doi":"https://doi.org/10.1109/syscon.2012.6238554","title":"Structure preserving optimal control of 2D-Spider Crane","display_name":"Structure preserving optimal control of 2D-Spider Crane","publication_year":2012,"publication_date":"2012-03-01","ids":{"openalex":"https://openalex.org/W2095341900","doi":"https://doi.org/10.1109/syscon.2012.6238554","mag":"2095341900"},"language":"en","primary_location":{"id":"doi:10.1109/syscon.2012.6238554","doi":"https://doi.org/10.1109/syscon.2012.6238554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon.2012.6238554","pdf_url":null,"source":{"id":"https://openalex.org/S4306498685","display_name":"IEEE International Systems Conference (SysCon)","issn_l":"1944-7620","issn":["1944-7620"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Systems Conference SysCon 2012","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","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/A5036104965","display_name":"Sushant Waman Bahadure","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210132281","display_name":"Meiji (India)","ror":"https://ror.org/03w4e6p22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210132281"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sushant Bahadure","raw_affiliation_strings":["Veermata Jijabai Technol. Inst., Mumbai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Veermata Jijabai Technol. Inst., Mumbai, India","institution_ids":["https://openalex.org/I4210132281"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103531073","display_name":"Chinde Venkatesh","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210132281","display_name":"Meiji (India)","ror":"https://ror.org/03w4e6p22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210132281"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Chinde Venkatesh","raw_affiliation_strings":["Veermata Jijabai Technol. Inst., Mumbai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Veermata Jijabai Technol. Inst., Mumbai, India","institution_ids":["https://openalex.org/I4210132281"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086347775","display_name":"Rachit Mehra","orcid":"https://orcid.org/0000-0003-3426-404X","observed_orcids":["https://orcid.org/0000-0003-3426-404X"]},"institutions":[{"id":"https://openalex.org/I4210132281","display_name":"Meiji (India)","ror":"https://ror.org/03w4e6p22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210132281"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rachit Mehra","raw_affiliation_strings":["Veermata Jijabai Technol. Inst., Mumbai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Veermata Jijabai Technol. Inst., Mumbai, India","institution_ids":["https://openalex.org/I4210132281"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103531074","display_name":"Farukh Kazi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210132281","display_name":"Meiji (India)","ror":"https://ror.org/03w4e6p22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210132281"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Farukh Kazi","raw_affiliation_strings":["Veermata Jijabai Technol. Inst., Mumbai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Veermata Jijabai Technol. Inst., Mumbai, India","institution_ids":["https://openalex.org/I4210132281"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023954204","display_name":"Navdeep Singh","orcid":"https://orcid.org/0000-0002-5989-1800","observed_orcids":["https://orcid.org/0000-0002-5989-1800","https://orcid.org/0000-0002-1052-0515"]},"institutions":[{"id":"https://openalex.org/I4210132281","display_name":"Meiji (India)","ror":"https://ror.org/03w4e6p22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210132281"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Navdeep Singh","raw_affiliation_strings":["Veermata Jijabai Technol. Inst., Mumbai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Veermata Jijabai Technol. Inst., Mumbai, India","institution_ids":["https://openalex.org/I4210132281"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210132281"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.8935999870300293,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.8935999870300293,"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/T11416","display_name":"Numerical Solvers for Ordinary Differential Equations","score":0.10239999741315842,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10339","display_name":"Advanced Numerical Methods in Computational Mathematics","score":0.0010000000474974513,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/optimal-control","display_name":"optimal control","score":0.7760000228881836},{"id":"https://openalex.org/keywords/structure-preserving-integrators","display_name":"structure-preserving integrators","score":0.7139999866485596},{"id":"https://openalex.org/keywords/discrete-mechanics","display_name":"discrete mechanics","score":0.9750000238418579},{"id":"https://openalex.org/keywords/discrete-euler-lagrange-equations","display_name":"discrete Euler-Lagrange equations","score":0.7870000004768372},{"id":"https://openalex.org/keywords/lagrange-d-alembert-principle","display_name":"Lagrange-d'Alembert principle","score":0.8939999938011169},{"id":"https://openalex.org/keywords/variational-integrators","display_name":"variational integrators","score":0.8119999766349792},{"id":"https://openalex.org/keywords/conserved-quantities","display_name":"first integrals","score":0.8040000200271606},{"id":"https://openalex.org/keywords/payload-positioning","display_name":"payload positioning","score":0.640999972820282},{"id":"https://openalex.org/keywords/overhead-crane","display_name":"overhead crane","score":0.5759999752044678}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7100546956062317},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6009250283241272},{"id":"https://openalex.org/C2779279789","wikidata":"https://www.wikidata.org/wiki/Q1060390","display_name":"Overhead crane","level":2,"score":0.5350488424301147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5196527242660522},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5036816000938416},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4824236333370209},{"id":"https://openalex.org/C52154503","wikidata":"https://www.wikidata.org/wiki/Q7915797","display_name":"Variational integrator","level":4,"score":0.4654567837715149},{"id":"https://openalex.org/C499771625","wikidata":"https://www.wikidata.org/wiki/Q324669","display_name":"Lagrangian mechanics","level":5,"score":0.43676257133483887},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.43642711639404297},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.37449556589126587},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.353343665599823},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3365190625190735},{"id":"https://openalex.org/C206183056","wikidata":"https://www.wikidata.org/wiki/Q833065","display_name":"Analytical mechanics","level":4,"score":0.2972186803817749},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22286131978034973},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19893690943717957},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.180000901222229},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1456264853477478},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11932364106178284},{"id":"https://openalex.org/C15184713","wikidata":"https://www.wikidata.org/wiki/Q7269042","display_name":"Quantum dynamics","level":3,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/syscon.2012.6238554","doi":"https://doi.org/10.1109/syscon.2012.6238554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon.2012.6238554","pdf_url":null,"source":{"id":"https://openalex.org/S4306498685","display_name":"IEEE International Systems Conference (SysCon)","issn_l":"1944-7620","issn":["1944-7620"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Systems Conference SysCon 2012","raw_type":"proceedings-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":15,"referenced_works":["https://openalex.org/W1519663059","https://openalex.org/W1538755060","https://openalex.org/W2052930914","https://openalex.org/W2062388571","https://openalex.org/W2081727243","https://openalex.org/W2106437423","https://openalex.org/W2113753258","https://openalex.org/W2115497059","https://openalex.org/W2117049944","https://openalex.org/W2125968092","https://openalex.org/W2128285126","https://openalex.org/W2150755300","https://openalex.org/W4299356270","https://openalex.org/W6632235072","https://openalex.org/W6675910531"],"related_works":["https://openalex.org/W2117049944","https://openalex.org/W2062388571","https://openalex.org/W1981031465","https://openalex.org/W1997251742","https://openalex.org/W4390049695","https://openalex.org/W7098897684","https://openalex.org/W2766814838","https://openalex.org/W2065616023","https://openalex.org/W2128285126","https://openalex.org/W7100284928"],"abstract_inverted_index":{"In":[0,147],"this":[1,135,148],"paper":[2],"we":[3,150],"present":[4],"a":[5,41,66,123,152],"new":[6],"approach":[7],"for":[8,31,48,62],"optimal":[9,33],"control":[10,34,131],"of":[11,44,65,90,155,163],"2D-Spider":[12],"Crane,":[13],"which":[14,81],"is":[15,29,38,73,112],"based":[16,39],"on":[17,40],"structure":[18],"preserving":[19],"numerical":[20],"integrators":[21],"derived":[22],"from":[23],"discrete":[24,27,55],"mechanics.":[25],"The":[26,36,52],"framework":[28],"developed":[30],"Lagrangian":[32],"problems.":[35],"method":[37,72],"direct":[42],"discretization":[43],"the":[45,49,63,83,101,116,119,156,164],"Lagrange-dAlembert":[46],"principle":[47],"mechanical":[50],"system.":[51],"resulting":[53],"forced":[54],"Euler-Lagrange":[56],"equations":[57],"then":[58],"serve":[59],"as":[60,75],"constraints":[61],"optimization":[64,71],"given":[67],"cost":[68],"functional.":[69],"This":[70,127],"known":[74],"DMOC,":[76],"Discrete":[77],"Mechanics":[78],"Optimal":[79],"Control,":[80],"inherits":[82],"special":[84],"properties":[85],"like":[86],"symmetries":[87],"and":[88,140],"integrals":[89],"motion":[91],"exhibited":[92],"by":[93,108,134],"variational":[94],"integrators.":[95],"Cranes":[96],"are":[97],"all":[98],"pervasive":[99],"in":[100],"heavy":[102],"engineering":[103],"industry.":[104],"Precise":[105],"payload":[106,120,142,165],"positioning":[107,143],"an":[109],"overhead":[110],"crane":[111],"difficult":[113],"due":[114],"to":[115,137],"fact":[117],"that":[118],"may":[121],"exhibit":[122],"pendulum-like":[124],"swinging":[125],"motion.":[126],"demands":[128],"truly":[129],"efficient":[130],"strategies.":[132],"Motivated":[133],"desire":[136],"achieve":[138],"fast":[139],"precise":[141],"while":[144],"minimizing":[145],"forces.":[146],"paper,":[149],"consider":[151],"planar":[153],"version":[154],"Spider-Crane.":[157],"Our":[158],"objective":[159],"is:":[160],"Point-to-point":[161],"transfer":[162],"with":[166],"minimum":[167],"force.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2016-06-24T00:00:00"}