{"id":"https://openalex.org/W21479624","doi":"https://doi.org/10.1007/s10916-011-9693-2","title":"Collision avoidance trajectory planning for redundant manipulators.","display_name":"Collision avoidance trajectory planning for redundant manipulators.","publication_year":1991,"publication_date":"1991-01-01","ids":{"openalex":"https://openalex.org/W21479624","doi":"https://doi.org/10.1007/s10916-011-9693-2","mag":"21479624"},"language":"en","primary_location":{"id":"mag:21479624","is_oa":false,"landing_page_url":"https://hdl.handle.net/2027.42/105738","pdf_url":null,"source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Deep Blue (University of Michigan)","raw_type":null},"type":"article","indexed_in":[],"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/A5036700129","display_name":"E. Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"E. Lee","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5036700129"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.00207006,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"36","issue":"4","first_page":"2259","last_page":"69"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9926000237464905,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9926000237464905,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.949400007724762,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9038000106811523,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8136543035507202},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6086065173149109},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49354374408721924},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.41763606667518616},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12794050574302673},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08752307295799255}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8136543035507202},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6086065173149109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49354374408721924},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.41763606667518616},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12794050574302673},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08752307295799255},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"mag:21479624","is_oa":false,"landing_page_url":"https://hdl.handle.net/2027.42/105738","pdf_url":null,"source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Deep Blue (University of Michigan)","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.5799999833106995,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W2390279801","https://openalex.org/W2743212448","https://openalex.org/W650625605","https://openalex.org/W4310743282","https://openalex.org/W1819938260","https://openalex.org/W2340892746"],"abstract_inverted_index":{"This":[0],"work":[1],"explores":[2],"the":[3,99,116,131,147],"design":[4],"of":[5,57,134,146],"mammography-based":[6],"machine":[7],"learning":[8],"classifiers":[9,126],"(MLC)":[10],"and":[11,60,69,83,143],"proposes":[12],"a":[13],"new":[14],"method":[15,74],"to":[16,28,65,87],"build":[17],"MLC":[18,26,91,121],"for":[19],"breast":[20],"cancer":[21],"diagnosis.":[22,53],"We":[23,93],"massively":[24],"evaluated":[25,94],"configurations":[27,122],"classify":[29],"features":[30,138],"vectors":[31,139],"extracted":[32,97,140],"from":[33,98,141],"segmented":[34,107],"regions":[35,108],"(pathological":[36],"lesion":[37],"or":[38],"normal":[39],"tissue)":[40],"on":[41,109],"craniocaudal":[42],"(CC)":[43],"and/or":[44,111],"mediolateral":[45],"oblique":[46],"(MLO)":[47],"mammography":[48],"image":[49,58,67],"views,":[50],"providing":[51],"BI-RADS":[52],"Previously,":[54],"appropriate":[55],"combinations":[56],"processing":[59],"normalization":[61],"techniques":[62],"were":[63,123],"applied":[64],"reduce":[66],"artifacts":[68],"increase":[70],"mammograms":[71],"details.":[72],"The":[73],"can":[75],"be":[76],"used":[77],"under":[78,130],"different":[79],"data":[80],"acquisition":[81],"circumstances":[82],"exploits":[84],"computer":[85],"clusters":[86],"select":[88],"well":[89],"performing":[90],"configurations.":[92],"286":[95],"cases":[96],"repository":[100],"owned":[101],"by":[102],"HSJ-FMUP,":[103],"where":[104],"specialized":[105],"radiologists":[106],"CC":[110,142],"MLO":[112,144],"images":[113],"(biopsies":[114],"provided":[115],"golden":[117],"standard).":[118],"Around":[119],"20,000":[120],"evaluated,":[124],"obtaining":[125],"achieving":[127],"an":[128],"area":[129],"ROC":[132],"curve":[133],"0.996":[135],"when":[136],"combining":[137],"views":[145],"same":[148],"case.":[149]},"counts_by_year":[],"updated_date":"2025-10-10T17:16:08.811792","created_date":"2025-10-10T00:00:00"}