{"id":"https://openalex.org/W1987730224","doi":"https://doi.org/10.1007/bf00435715","title":"UPE: Utah prototyping environment for robot manipulators","display_name":"UPE: Utah prototyping environment for robot manipulators","publication_year":1996,"publication_date":"1996-09-01","ids":{"openalex":"https://openalex.org/W1987730224","doi":"https://doi.org/10.1007/bf00435715","mag":"1987730224"},"language":"en","primary_location":{"id":"doi:10.1007/bf00435715","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf00435715","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and 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/A5009642728","display_name":"Mohamed Dekhil","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"M. Dekhil","raw_affiliation_strings":["Department of Computer Science, University of Utah, 84112, Salt Lake City, UT, U.S.A","Department of Computer Science, University of Utah, Salt Lake City, U.S.A"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Utah, 84112, Salt Lake City, UT, U.S.A","institution_ids":[]},{"raw_affiliation_string":"Department of Computer Science, University of Utah, Salt Lake City, U.S.A","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004836020","display_name":"Tarek Sobh","orcid":"https://orcid.org/0000-0001-7141-9990"},"institutions":[{"id":"https://openalex.org/I154300980","display_name":"University of Bridgeport","ror":"https://ror.org/01rf3yp57","country_code":"US","type":"education","lineage":["https://openalex.org/I154300980"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. M. Sobh","raw_affiliation_strings":["Department of Computer Science & Engineering, University of Bridgeport, 06497, Bridgeport, CT, U.S.A","Department of Computer Science and Engineering, University of Bridgeport, Bridgeport, U.S.A"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science & Engineering, University of Bridgeport, 06497, Bridgeport, CT, U.S.A","institution_ids":[]},{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Bridgeport, Bridgeport, U.S.A","institution_ids":["https://openalex.org/I154300980"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013051797","display_name":"Thomas C. Henderson","orcid":"https://orcid.org/0000-0002-0792-3882"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"T. C. Henderson","raw_affiliation_strings":["Department of Computer Science, University of Utah, 84112, Salt Lake City, UT, U.S.A","Department of Computer Science, University of Utah, Salt Lake City, U.S.A"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Utah, 84112, Salt Lake City, UT, U.S.A","institution_ids":[]},{"raw_affiliation_string":"Department of Computer Science, University of Utah, Salt Lake City, U.S.A","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087362005","display_name":"Robert Mecklenburg","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"R. Mecklenburg","raw_affiliation_strings":["Department of Computer Science, University of Utah, 84112, Salt Lake City, UT, U.S.A","Department of Computer Science, University of Utah, Salt Lake City, U.S.A"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Utah, 84112, Salt Lake City, UT, U.S.A","institution_ids":[]},{"raw_affiliation_string":"Department of Computer Science, University of Utah, Salt Lake City, U.S.A","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009642728"],"corresponding_institution_ids":[],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.1339876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":"1","first_page":"31","last_page":"60"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9937999844551086,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6207309365272522},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5974065065383911},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5912144184112549},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5287646055221558},{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"Rapid prototyping","score":0.5205755829811096},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.48831531405448914},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4801175594329834},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.47981977462768555},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47799912095069885},{"id":"https://openalex.org/keywords/computer-aided-design","display_name":"Computer Aided Design","score":0.42297476530075073},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.419036328792572},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4088701605796814},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3581390678882599},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14476880431175232}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6207309365272522},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5974065065383911},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5912144184112549},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5287646055221558},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.5205755829811096},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.48831531405448914},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4801175594329834},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.47981977462768555},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47799912095069885},{"id":"https://openalex.org/C119823426","wikidata":"https://www.wikidata.org/wiki/Q184793","display_name":"Computer Aided Design","level":2,"score":0.42297476530075073},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.419036328792572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4088701605796814},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3581390678882599},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14476880431175232},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/bf00435715","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf00435715","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and 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":17,"referenced_works":["https://openalex.org/W25541839","https://openalex.org/W1528669307","https://openalex.org/W1600615799","https://openalex.org/W1992025345","https://openalex.org/W2013696141","https://openalex.org/W2021894807","https://openalex.org/W2055047422","https://openalex.org/W2111728786","https://openalex.org/W2118091411","https://openalex.org/W2122677745","https://openalex.org/W2128782577","https://openalex.org/W2130789163","https://openalex.org/W2138299903","https://openalex.org/W2141664702","https://openalex.org/W2171344460","https://openalex.org/W4234340060","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2032980534","https://openalex.org/W96491368","https://openalex.org/W436226342","https://openalex.org/W2381107656","https://openalex.org/W817453530","https://openalex.org/W1995519720","https://openalex.org/W2074131924","https://openalex.org/W2059124652","https://openalex.org/W2132182844","https://openalex.org/W2078178448"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
