{"id":"https://openalex.org/W2025994928","doi":"https://doi.org/10.1002/rob.4620070310","title":"Integrated sensing for circuit board insertion","display_name":"Integrated sensing for circuit board insertion","publication_year":1990,"publication_date":"1990-06-01","ids":{"openalex":"https://openalex.org/W2025994928","doi":"https://doi.org/10.1002/rob.4620070310","mag":"2025994928"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620070310","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070310","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5007770341","display_name":"Robert B. Kelley","orcid":null},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Robert B. Kelley","raw_affiliation_strings":["Electrical, Computer, and Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180\u20133590","Electrical, Computer & Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180-3590"],"affiliations":[{"raw_affiliation_string":"Electrical, Computer, and Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180\u20133590","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Electrical, Computer & Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180-3590","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002219790","display_name":"Deepak Sood","orcid":"https://orcid.org/0000-0002-5783-0967"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Deepak Sood","raw_affiliation_strings":["Electrical, Computer, and Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180\u20133590","Electrical, Computer & Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180-3590"],"affiliations":[{"raw_affiliation_string":"Electrical, Computer, and Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180\u20133590","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Electrical, Computer & Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180-3590","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005490318","display_name":"Michael C. Repko","orcid":null},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael C. Repko","raw_affiliation_strings":["Electrical, Computer, and Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180\u20133590","Electrical, Computer & Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180-3590"],"affiliations":[{"raw_affiliation_string":"Electrical, Computer, and Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180\u20133590","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Electrical, Computer & Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, NY 12180-3590","institution_ids":["https://openalex.org/I165799507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007770341"],"corresponding_institution_ids":["https://openalex.org/I165799507"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.21047841,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":"3","first_page":"487","last_page":"505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10868","display_name":"Soft Robotics and Applications","score":0.9891999959945679,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7292935252189636},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5950284004211426},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.549975574016571},{"id":"https://openalex.org/keywords/printed-circuit-board","display_name":"Printed circuit board","score":0.5325186848640442},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5201554894447327},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4661494493484497},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4486446976661682},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4472978413105011},{"id":"https://openalex.org/keywords/insert","display_name":"Insert (composites)","score":0.4409281015396118},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4001345932483673},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3628142476081848},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33261942863464355},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.225989431142807},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14029988646507263}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7292935252189636},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5950284004211426},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.549975574016571},{"id":"https://openalex.org/C120793396","wikidata":"https://www.wikidata.org/wiki/Q173350","display_name":"Printed circuit board","level":2,"score":0.5325186848640442},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5201554894447327},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4661494493484497},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4486446976661682},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4472978413105011},{"id":"https://openalex.org/C2780098074","wikidata":"https://www.wikidata.org/wiki/Q6037362","display_name":"Insert (composites)","level":2,"score":0.4409281015396118},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4001345932483673},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3628142476081848},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33261942863464355},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.225989431142807},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14029988646507263},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620070310","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070310","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W251814528","https://openalex.org/W1499277479","https://openalex.org/W1570082825","https://openalex.org/W1606213090","https://openalex.org/W1645772461","https://openalex.org/W1861822213","https://openalex.org/W1970657734","https://openalex.org/W1984701009","https://openalex.org/W1994049796","https://openalex.org/W2004249213","https://openalex.org/W2015947727","https://openalex.org/W2043811252","https://openalex.org/W2067063617","https://openalex.org/W2089337412","https://openalex.org/W2112018802","https://openalex.org/W2134094019","https://openalex.org/W2141667481","https://openalex.org/W2165251602","https://openalex.org/W2674629079","https://openalex.org/W4244216968"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"Abstract":[0],"To":[1],"automate":[2],"tasks":[3,38],"like":[4],"assembly,":[5],"disassembly,":[6],"repair":[7],"and":[8,65,132,166],"maintenance,":[9],"the":[10,40,53,56,59,66,78,82,98,108,130,136,141,147,153],"issues":[11],"arising":[12],"from":[13],"environmental":[14],"uncertainties":[15,25],"must":[16],"be":[17],"addressed.":[18],"An":[19],"integrated":[20,156],"sensing":[21,99,106,112,157],"approach":[22,102],"which":[23,120,150],"addresses":[24],"is":[26,74,121,126],"presented":[27],"for":[28,85],"two":[29],"robot":[30,54],"systems":[31],"equipped":[32],"with":[33,115],"multiple":[34],"sensors.":[35],"The":[36],"target":[37],"involve":[39],"insertion":[41,68,142],"of":[42,61,97,155],"printed":[43,62],"circuit":[44,63],"boards":[45,64],"into":[46],"cages.":[47],"Sensors":[48],"are":[49,92],"used":[50,75,127],"to":[51,55,76,81,94,128,159],"calibrate":[52],"workspace,":[57],"locate":[58,167],"supply":[60],"destination":[67],"slots.":[69],"A":[70,118],"fingertip":[71],"lightbeam":[72],"sensor":[73,139],"refine":[77],"location":[79],"information":[80],"precision":[83],"required":[84],"a":[86],"successful":[87],"insertion.":[88],"Two":[89],"plausible":[90],"approaches":[91],"explored":[93],"test":[95],"some":[96],"concepts.":[100],"One":[101],"examines":[103,110],"blind":[104],"system":[105],"strategies;":[107],"other":[109],"vision":[111],"in":[113],"conjunction":[114],"fuzzy":[116,124],"reasoning.":[117],"controller":[119],"based":[122],"on":[123],"logic":[125],"interpret":[129],"forces":[131],"torques":[133],"generated":[134],"by":[135],"wrist\u2010mounted":[137],"force\u2010torque":[138],"during":[140],"process.":[143],"These":[144],"explorations":[145],"represent":[146],"first":[148],"steps":[149],"lead":[151],"toward":[152],"development":[154],"skills":[158],"perform":[160],"generic":[161],"activities":[162],"such":[163],"as":[164],"insert":[165],".":[168]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}