{"id":"https://openalex.org/W3206624052","doi":"https://doi.org/10.1002/aisy.202000264","title":"Energy\u2010Based Abstraction for Soft Robotic System Development","display_name":"Energy\u2010Based Abstraction for Soft Robotic System Development","publication_year":2021,"publication_date":"2021-10-13","ids":{"openalex":"https://openalex.org/W3206624052","doi":"https://doi.org/10.1002/aisy.202000264","mag":"3206624052"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202000264","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202000264","pdf_url":null,"source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1002/aisy.202000264","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028524804","display_name":"Ho-Tak D. Chun","orcid":null},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ho-Tak D. Chun","raw_affiliation_strings":["School of Mathematical and Computer Sciences Heriot-Watt University  Edinburgh EH14 4AS UK","School of Mathematical and Computer Sciences, Heriot-Watt University, Edinburgh, EH14 4AS UK"],"affiliations":[{"raw_affiliation_string":"School of Mathematical and Computer Sciences Heriot-Watt University  Edinburgh EH14 4AS UK","institution_ids":["https://openalex.org/I32062511"]},{"raw_affiliation_string":"School of Mathematical and Computer Sciences, Heriot-Watt University, Edinburgh, EH14 4AS UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010578112","display_name":"N. Taylor","orcid":"https://orcid.org/0000-0003-1268-9469"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nicholas K. Taylor","raw_affiliation_strings":["School of Mathematical and Computer Sciences Heriot-Watt University  Edinburgh EH14 4AS UK","School of Mathematical and Computer Sciences, Heriot-Watt University, Edinburgh, EH14 4AS UK"],"affiliations":[{"raw_affiliation_string":"School of Mathematical and Computer Sciences Heriot-Watt University  Edinburgh EH14 4AS UK","institution_ids":["https://openalex.org/I32062511"]},{"raw_affiliation_string":"School of Mathematical and Computer Sciences, Heriot-Watt University, Edinburgh, EH14 4AS UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003178387","display_name":"Adam A. Stokes","orcid":"https://orcid.org/0000-0002-6140-619X"},"institutions":[{"id":"https://openalex.org/I4210087927","display_name":"National Microelectronics Institute","ror":"https://ror.org/003ck6433","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210087927"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Adam A. Stokes","raw_affiliation_strings":["School of Engineering, Institute for Integrated Micro and Nano Systems The University of Edinburgh  The King's Buildings Edinburgh EH9 3LJ UK","School of Engineering, Institute for Integrated Micro and Nano Systems, The University of Edinburgh, The King's Buildings, Edinburgh, EH9 3LJ UK"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Institute for Integrated Micro and Nano Systems The University of Edinburgh  The King's Buildings Edinburgh EH9 3LJ UK","institution_ids":["https://openalex.org/I98677209","https://openalex.org/I4210087927"]},{"raw_affiliation_string":"School of Engineering, Institute for Integrated Micro and Nano Systems, The University of Edinburgh, The King's Buildings, Edinburgh, EH9 3LJ UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5003178387"],"corresponding_institution_ids":["https://openalex.org/I4210087927","https://openalex.org/I98677209"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2750,"currency":"USD","value_usd":2750},"fwci":0.2539,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.50544993,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11486","display_name":"Micro and Nano Robotics","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bond-graph","display_name":"Bond graph","score":0.9666513204574585},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.7308614253997803},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.7219210863113403},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6261000633239746},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5782235264778137},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5711554288864136},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5384587645530701},{"id":"https://openalex.org/keywords/abstraction-layer","display_name":"Abstraction layer","score":0.504172682762146},{"id":"https://openalex.org/keywords/graph-rewriting","display_name":"Graph rewriting","score":0.5035616755485535},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.49039149284362793},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4298385977745056},{"id":"https://openalex.org/keywords/dissipation","display_name":"Dissipation","score":0.42292702198028564},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.4195794463157654},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37192851305007935},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.31704744696617126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2940104603767395},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2863641083240509},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13380879163742065},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1320079267024994},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11925402283668518}],"concepts":[{"id":"https://openalex.org/C187593909","wikidata":"https://www.wikidata.org/wiki/Q838024","display_name":"Bond graph","level":2,"score":0.9666513204574585},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.7308614253997803},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7219210863113403},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6261000633239746},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5782235264778137},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5711554288864136},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5384587645530701},{"id":"https://openalex.org/C147358964","wikidata":"https://www.wikidata.org/wiki/Q1200992","display_name":"Abstraction layer","level":3,"score":0.504172682762146},{"id":"https://openalex.org/C558772884","wikidata":"https://www.wikidata.org/wiki/Q1508564","display_name":"Graph rewriting","level":3,"score":0.5035616755485535},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.49039149284362793},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4298385977745056},{"id":"https://openalex.org/C135402231","wikidata":"https://www.wikidata.org/wiki/Q898440","display_name":"Dissipation","level":2,"score":0.42292702198028564},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.4195794463157654},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37192851305007935},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.31704744696617126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2940104603767395},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2863641083240509},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13380879163742065},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1320079267024994},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11925402283668518},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":2,"locations":[{"id":"doi:10.1002/aisy.202000264","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202000264","pdf_url":null,"source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:70fd2faee6f047599ff9735c5dd8bdd5","is_oa":true,"landing_page_url":"https://doaj.org/article/70fd2faee6f047599ff9735c5dd8bdd5","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 5, Iss 4, Pp n/a-n/a (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202000264","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202000264","pdf_url":null,"source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8799999952316284}],"awards":[{"id":"https://openalex.org/G199645056","display_name":null,"funder_award_id":"CDT RAS","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1526120274","https://openalex.org/W1626229989","https://openalex.org/W1956480593","https://openalex.org/W1964992116","https://openalex.org/W1967237352","https://openalex.org/W2017718225","https://openalex.org/W2025613329","https://openalex.org/W2031678438","https://openalex.org/W2036105802","https://openalex.org/W2044867385","https://openalex.org/W2049850481","https://openalex.org/W2071188031","https://openalex.org/W2074923442","https://openalex.org/W2079574144","https://openalex.org/W2091861057","https://openalex.org/W2097815265","https://openalex.org/W2106259329","https://openalex.org/W2120556101","https://openalex.org/W2124661127","https://openalex.org/W2129563024","https://openalex.org/W2141905643","https://openalex.org/W2167362752","https://openalex.org/W2236954786","https://openalex.org/W2503540216","https://openalex.org/W2515930553","https://openalex.org/W2518044102","https://openalex.org/W2518216050","https://openalex.org/W2541850464","https://openalex.org/W2560730116","https://openalex.org/W2567273230","https://openalex.org/W2617746692","https://openalex.org/W2618733545","https://openalex.org/W2618978088","https://openalex.org/W2735262160","https://openalex.org/W2746279630","https://openalex.org/W2755921665","https://openalex.org/W2766889426","https://openalex.org/W2774617194","https://openalex.org/W2782093158","https://openalex.org/W2789418330","https://openalex.org/W2793128170","https://openalex.org/W2892558653","https://openalex.org/W2894526139","https://openalex.org/W2949563790","https://openalex.org/W2967898303","https://openalex.org/W3040174853","https://openalex.org/W3046178383","https://openalex.org/W3163931540","https://openalex.org/W4206679659","https://openalex.org/W4232165056","https://openalex.org/W4233227660","https://openalex.org/W4239070401","https://openalex.org/W4239903097","https://openalex.org/W4244367163"],"related_works":["https://openalex.org/W3009669764","https://openalex.org/W1958094387","https://openalex.org/W2032170356","https://openalex.org/W2614520266","https://openalex.org/W2534103874","https://openalex.org/W2352450077","https://openalex.org/W608274405","https://openalex.org/W1524027837","https://openalex.org/W3206624052","https://openalex.org/W1600225957"],"abstract_inverted_index":{"Soft":[0],"robots":[1],"are":[2,100,111],"designed":[3],"to":[4,54,92,149,156,171,177],"convert":[5],"stored":[6],"energy":[7,61,123,127,129,131],"into":[8],"useful":[9],"work":[10],"done.":[11],"Typically,":[12],"the":[13,46,60,71,119,122,125,134,137,143,151,164],"soft":[14,22,39,94,108,144,173],"robot":[15,145],"designer":[16,146],"starts":[17],"from":[18,31,102],"a":[19,26,32,57,64,74,82],"type":[20],"of":[21,38,59,73,118,163],"actuation":[23,40,109,154,165],"technology":[24,41,155],"at":[25],"component":[27,84],"level,":[28],"rather":[29],"than":[30],"systems":[33,168,175],"engineering":[34,169],"level.":[35],"The":[36],"characteristics":[37,99],"may":[42],"apply":[43],"constraints":[44],"on":[45],"final":[47],"system.":[48,65],"Bond\u2010graph":[49],"theory":[50],"can":[51,68,80],"be":[52,69],"used":[53],"graphically":[55],"represent":[56],"model":[58],"transfer":[62],"through":[63],"Top\u2010level":[66],"abstraction":[67,89],"in":[70],"form":[72,81],"word":[75],"bond\u2010graph":[76,78,88,114],"and":[77,96,133],"elements":[79],"lower":[83],"level":[85],"abstraction.":[86],"Herein,":[87],"is":[90,147],"applied":[91],"different":[93],"actuators":[95],"their":[97,158],"essential":[98],"identified":[101],"an":[103],"energy\u2010based":[104],"perspective.":[105],"Several":[106],"distinct":[107],"technologies":[110],"represented":[112],"using":[113],"components":[115],"for":[116],"each":[117],"key":[120],"elements:":[121],"source,":[124],"intermediate":[126],"storage,":[128],"dissipation,":[130],"transformation,":[132],"interaction":[135],"with":[136],"environment.":[138],"By":[139],"applying":[140],"this":[141],"analysis,":[142],"enabled":[148],"select":[150],"most":[152],"suitable":[153],"fulfill":[157],"top\u2010level":[159],"system":[160],"requirements":[161],"independently":[162],"domain.":[166],"A":[167],"approach":[170],"develop":[172],"robotic":[174],"leads":[176],"more":[178],"everyday":[179,184],"products":[180],"that":[181],"impact":[182],"our":[183],"lives.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
