{"id":"https://openalex.org/W4408383574","doi":"https://doi.org/10.1007/s10270-025-01270-9","title":"Diagrammatic physical robot models","display_name":"Diagrammatic physical robot models","publication_year":2025,"publication_date":"2025-03-12","ids":{"openalex":"https://openalex.org/W4408383574","doi":"https://doi.org/10.1007/s10270-025-01270-9","pmid":"https://pubmed.ncbi.nlm.nih.gov/41019838"},"language":"en","primary_location":{"id":"doi:10.1007/s10270-025-01270-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10270-025-01270-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10270-025-01270-9.pdf","source":{"id":"https://openalex.org/S64245694","display_name":"Software & Systems Modeling","issn_l":"1619-1366","issn":["1619-1366","1619-1374"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Software and Systems Modeling","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10270-025-01270-9.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077565561","display_name":"Alvaro Miyazawa","orcid":"https://orcid.org/0000-0003-2233-9091"},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Alvaro Miyazawa","raw_affiliation_strings":["Department of Computer Science, University of York, York, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of York, York, UK","institution_ids":["https://openalex.org/I52099693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080633319","display_name":"Sara Ahmadi","orcid":"https://orcid.org/0000-0002-0919-8565"},"institutions":[{"id":"https://openalex.org/I71052956","display_name":"University of Reading","ror":"https://ror.org/05v62cm79","country_code":"GB","type":"education","lineage":["https://openalex.org/I71052956"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sharar Ahmadi","raw_affiliation_strings":["Department of Meteorology, University of Reading, Reading, UK"],"affiliations":[{"raw_affiliation_string":"Department of Meteorology, University of Reading, Reading, UK","institution_ids":["https://openalex.org/I71052956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073408099","display_name":"Ana Cavalcanti","orcid":"https://orcid.org/0000-0002-0831-1976"},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ana Cavalcanti","raw_affiliation_strings":["Department of Computer Science, University of York, York, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of York, York, UK","institution_ids":["https://openalex.org/I52099693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055266310","display_name":"James Baxter","orcid":"https://orcid.org/0000-0001-6083-9607"},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James Baxter","raw_affiliation_strings":["Department of Computer Science, University of York, York, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of York, York, UK","institution_ids":["https://openalex.org/I52099693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086888932","display_name":"Mark Post","orcid":"https://orcid.org/0000-0002-1925-7039"},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mark Post","raw_affiliation_strings":["School of Physics, Engineering, and Technology, University of York, York, UK"],"affiliations":[{"raw_affiliation_string":"School of Physics, Engineering, and Technology, University of York, York, UK","institution_ids":["https://openalex.org/I52099693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016094821","display_name":"Pedro Ribeiro","orcid":"https://orcid.org/0000-0003-4319-4872"},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pedro Ribeiro","raw_affiliation_strings":["Department of Computer Science, University of York, York, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of York, York, UK","institution_ids":["https://openalex.org/I52099693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080582720","display_name":"Jon Timmis","orcid":"https://orcid.org/0000-0003-1055-0471"},"institutions":[{"id":"https://openalex.org/I16038530","display_name":"Aberystwyth University","ror":"https://ror.org/015m2p889","country_code":"GB","type":"education","lineage":["https://openalex.org/I16038530"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jon Timmis","raw_affiliation_strings":["Department of Computer Science, Aberystwyth University, Aberystwyth, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Aberystwyth University, Aberystwyth, UK","institution_ids":["https://openalex.org/I16038530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053986773","display_name":"Thomas Wright","orcid":"https://orcid.org/0000-0002-9913-5487"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Thomas Wright","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Aarhus University, Aarhus, Denmark"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aarhus University, Aarhus, Denmark","institution_ids":["https://openalex.org/I204337017"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5077565561"],"corresponding_institution_ids":["https://openalex.org/I52099693"],"apc_list":{"value":2290,"currency":"EUR","value_usd":2890},"apc_paid":{"value":2290,"currency":"EUR","value_usd":2890},"fwci":2.2263,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83720456,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"24","issue":"5","first_page":"1549","last_page":"1593"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11450","display_name":"Model-Driven Software Engineering Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11450","display_name":"Model-Driven Software Engineering Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9962999820709229,"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"}},{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/diagrammatic-reasoning","display_name":"Diagrammatic reasoning","score":0.906487762928009},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48474475741386414},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46895021200180054},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4146233797073364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2933877110481262},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08274969458580017}],"concepts":[{"id":"https://openalex.org/C106624574","wikidata":"https://www.wikidata.org/wiki/Q5270387","display_name":"Diagrammatic reasoning","level":2,"score":0.906487762928009},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48474475741386414},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46895021200180054},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4146233797073364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2933877110481262},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08274969458580017}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1007/s10270-025-01270-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10270-025-01270-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10270-025-01270-9.pdf","source":{"id":"https://openalex.org/S64245694","display_name":"Software & Systems Modeling","issn_l":"1619-1366","issn":["1619-1366","1619-1374"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Software and Systems Modeling","raw_type":"journal-article"},{"id":"pmid:41019838","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41019838","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Software and systems modeling","raw_type":null},{"id":"pmh:oai:pure.atira.dk:openaire/171be92b-b832-477d-8e3a-c4bb4423e304","is_oa":true,"landing_page_url":"https://pure.au.dk/portal/en/publications/171be92b-b832-477d-8e3a-c4bb4423e304","pdf_url":null,"source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Miyazawa, A, Ahmadi, S, Cavalcanti, A, Baxter, J, Post, M, Ribeiro, P, Timmis, J & Wright, T 2025, 'Diagrammatic physical robot models', Software and Systems Modeling, vol. 24, no. 5, 103720, pp. 1549-1593. https://doi.org/10.1007/s10270-025-01270-9","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:eprints.whiterose.ac.uk:223475","is_oa":false,"landing_page_url":"https://orcid.org/0000-0003-2233-9091>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:europepmc.org:11269167","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12460476","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12460476/pdf/10270_2025_Article_1270.pdf","source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:12460476","is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12460476/","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Softw Syst Model","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1007/s10270-025-01270-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10270-025-01270-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10270-025-01270-9.pdf","source":{"id":"https://openalex.org/S64245694","display_name":"Software & Systems Modeling","issn_l":"1619-1366","issn":["1619-1366","1619-1374"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Software and Systems Modeling","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3992833518","display_name":null,"funder_award_id":"EP/V026801","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4356830831","display_name":null,"funder_award_id":"CiET1718/45","funder_id":"https://openalex.org/F4320320005","funder_display_name":"Royal Academy of Engineering"},{"id":"https://openalex.org/G5151166594","display_name":"RoboTest: : Systematic Model-Based Testing and Simulation of Mobile Autonomous Robots","funder_award_id":"EP/R025479/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G56554279","display_name":"UKRI Trustworthy Autonomous Systems Node in Verifiability","funder_award_id":"EP/V026801/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6103963655","display_name":null,"funder_award_id":"EP/R025479/1EP/V026801/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7348943929","display_name":null,"funder_award_id":"CiET1718","funder_id":"https://openalex.org/F4320320005","funder_display_name":"Royal Academy of Engineering"}],"funders":[{"id":"https://openalex.org/F4320320005","display_name":"Royal Academy of Engineering","ror":"https://ror.org/0526snb40"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4408383574.pdf","grobid_xml":"https://content.openalex.org/works/W4408383574.grobid-xml"},"referenced_works_count":61,"referenced_works":["https://openalex.org/W22898880","https://openalex.org/W172589331","https://openalex.org/W1517265310","https://openalex.org/W1552435611","https://openalex.org/W1558296274","https://openalex.org/W1572273685","https://openalex.org/W1588335385","https://openalex.org/W1882160752","https://openalex.org/W1981404401","https://openalex.org/W1987706960","https://openalex.org/W2041842743","https://openalex.org/W2047237627","https://openalex.org/W2049700187","https://openalex.org/W2050484682","https://openalex.org/W2050739695","https://openalex.org/W2054382008","https://openalex.org/W2080864228","https://openalex.org/W2082511574","https://openalex.org/W2128510433","https://openalex.org/W2133278465","https://openalex.org/W2136621952","https://openalex.org/W2154920777","https://openalex.org/W2167340365","https://openalex.org/W2168639218","https://openalex.org/W2183364741","https://openalex.org/W2246023205","https://openalex.org/W2284256543","https://openalex.org/W2290110626","https://openalex.org/W2469560994","https://openalex.org/W2530189729","https://openalex.org/W2623591339","https://openalex.org/W2766856462","https://openalex.org/W2771849109","https://openalex.org/W2807059453","https://openalex.org/W2811472820","https://openalex.org/W2883506501","https://openalex.org/W2908789458","https://openalex.org/W2912687289","https://openalex.org/W2963363324","https://openalex.org/W2969816195","https://openalex.org/W2973204678","https://openalex.org/W2974494763","https://openalex.org/W2974598836","https://openalex.org/W3014009067","https://openalex.org/W3080564557","https://openalex.org/W3101648496","https://openalex.org/W3102912103","https://openalex.org/W3140353777","https://openalex.org/W3153745755","https://openalex.org/W3155740349","https://openalex.org/W3171954192","https://openalex.org/W3173006470","https://openalex.org/W3181847392","https://openalex.org/W4200633262","https://openalex.org/W4240172577","https://openalex.org/W4249835868","https://openalex.org/W4250846042","https://openalex.org/W4387105375","https://openalex.org/W4387123858","https://openalex.org/W4390142151","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W3003518673","https://openalex.org/W2243494072","https://openalex.org/W3083799684","https://openalex.org/W4288417689","https://openalex.org/W1588273335","https://openalex.org/W2933723564","https://openalex.org/W1582653816"],"abstract_inverted_index":{"Simulation":[0],"is":[1,19],"a":[2,33,50,61,70,81,136,150,159,173],"favoured":[3],"technique":[4],"in":[5,11],"robotics.":[6],"It":[7,45],"is,":[8],"however,":[9],"costly,":[10],"terms":[12],"of":[13,24,28,52,124,147,152],"development":[14],"time,":[15],"and":[16,26,42,60,111,119,121,138,172],"its":[17],"usability":[18],"limited":[20],"by":[21,104,109,116,169],"the":[22,95,105,125,144],"lack":[23],"standardisation":[25],"portability":[27],"simulators.":[29],"We":[30],"present":[31,80],"RoboSim,":[32],"diagrammatic":[34,140],"tool-independent":[35],"domain-specific":[36],"language":[37],"to":[38,72,84,94,99,164],"model":[39,98],"robotic":[40],"platforms":[41],"their":[43],"controllers.":[44],"can":[46,91,128],"be":[47,92,129],"regarded":[48],"as":[49],"profile":[51],"UML/SysML":[53],"enriched":[54],"with":[55],"time":[56],"primitives,":[57],"differential":[58,117],"equations,":[59,118],"mathematical":[62,122,177],"semantics.":[63],"Our":[64,132],"previous":[65],"work":[66],"on":[67],"RoboSim":[68,163],"described":[69],"notation":[71,83,141],"specify":[73],"control":[74],"software.":[75],"In":[76],"this":[77],"paper,":[78],"we":[79],"novel":[82],"describe":[85],"physical":[86,148],"models:":[87],"block":[88],"diagrams":[89],"that":[90,142,155],"linked":[93],"platform-independent":[96],"software":[97,106],"characterise":[100],"how":[101],"services":[102],"required":[103],"are":[107,114,135],"realised":[108],"actuators":[110],"sensors.":[112],"Behaviours":[113],"specified":[115],"simulations":[120],"models":[123],"whole":[126],"system":[127],"generated":[130],"automatically.":[131],"main":[133],"contributions":[134],"modular":[137],"extensible":[139],"supports":[143],"explicit":[145],"specification":[146],"behaviours;":[149],"set":[151],"validation":[153],"rules":[154],"identify":[156],"well-formed":[157],"models;":[158],"model-to-model":[160],"transformation":[161],"from":[162],"an":[165],"input":[166],"format":[167],"accepted":[168],"several":[170],"simulators;":[171],"formal":[174],"semantics":[175],"for":[176],"reasoning.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
