{"id":"https://openalex.org/W3000642726","doi":"https://doi.org/10.1017/s0263574719001735","title":"Unilaterally Constrained Motion of a Curved Surgical Tool","display_name":"Unilaterally Constrained Motion of a Curved Surgical Tool","publication_year":2020,"publication_date":"2020-01-10","ids":{"openalex":"https://openalex.org/W3000642726","doi":"https://doi.org/10.1017/s0263574719001735","mag":"3000642726"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719001735","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001735","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04249804","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065120560","display_name":"Bassem Dahroug","orcid":"https://orcid.org/0000-0002-2903-3645"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Bassem Dahroug","raw_affiliation_strings":["AS2M Department, FEMTO-ST Institute, Univ. Bourgogne Franche-Comt\u00e9/CNRS, 24 Rue Alain Savary, 25000 Besan\u00e7on, France E-mail:","FEMTO-ST - Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique, Thermique et Optique - Sciences et Technologies (UMR 6174) (32 avenue de l'Observatoire 25044 BESANCON CEDEX - France)"],"raw_orcid":"https://orcid.org/0000-0002-2903-3645","affiliations":[{"raw_affiliation_string":"AS2M Department, FEMTO-ST Institute, Univ. Bourgogne Franche-Comt\u00e9/CNRS, 24 Rue Alain Savary, 25000 Besan\u00e7on, France E-mail:","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292"]},{"raw_affiliation_string":"FEMTO-ST - Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique, Thermique et Optique - Sciences et Technologies (UMR 6174) (32 avenue de l'Observatoire 25044 BESANCON CEDEX - France)","institution_ids":["https://openalex.org/I2802759292"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011782479","display_name":"Brahim Tamadazte","orcid":"https://orcid.org/0000-0002-4668-3092"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I169173203","display_name":"D\u00e9l\u00e9gation Paris 7","ror":"https://ror.org/00bw5n526","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488","https://openalex.org/I169173203"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Brahim Tamadazte","raw_affiliation_strings":["AS2M Department, FEMTO-ST Institute, Univ. Bourgogne Franche-Comt\u00e9/CNRS, 24 Rue Alain Savary, 25000 Besan\u00e7on, France E-mail:","Institute for Intelligent Systems and Robotics, University of Sorbonne, CNRS, UMR 7222, 4 place Jussieu, 75005 Paris, France E-mail:","FEMTO-ST - Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique, Thermique et Optique - Sciences et Technologies (UMR 6174) (32 avenue de l'Observatoire 25044 BESANCON CEDEX - France)","AGATHE - Assistance aux Gestes et Applications THErapeutiques (ISIR, Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AS2M Department, FEMTO-ST Institute, Univ. Bourgogne Franche-Comt\u00e9/CNRS, 24 Rue Alain Savary, 25000 Besan\u00e7on, France E-mail:","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292"]},{"raw_affiliation_string":"Institute for Intelligent Systems and Robotics, University of Sorbonne, CNRS, UMR 7222, 4 place Jussieu, 75005 Paris, France E-mail:","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210150358"]},{"raw_affiliation_string":"FEMTO-ST - Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique, Thermique et Optique - Sciences et Technologies (UMR 6174) (32 avenue de l'Observatoire 25044 BESANCON CEDEX - France)","institution_ids":["https://openalex.org/I2802759292"]},{"raw_affiliation_string":"AGATHE - Assistance aux Gestes et Applications THErapeutiques (ISIR, Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)","institution_ids":["https://openalex.org/I169173203","https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000816393","display_name":"Nicolas Andreff","orcid":"https://orcid.org/0000-0001-5687-5533"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Andreff","raw_affiliation_strings":["AS2M Department, FEMTO-ST Institute, Univ. Bourgogne Franche-Comt\u00e9/CNRS, 24 Rue Alain Savary, 25000 Besan\u00e7on, France E-mail:","FEMTO-ST - Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique, Thermique et Optique - Sciences et Technologies (UMR 6174) (32 avenue de l'Observatoire 25044 BESANCON CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AS2M Department, FEMTO-ST Institute, Univ. Bourgogne Franche-Comt\u00e9/CNRS, 24 Rue Alain Savary, 25000 Besan\u00e7on, France E-mail:","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292"]},{"raw_affiliation_string":"FEMTO-ST - Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique, Thermique et Optique - Sciences et Technologies (UMR 6174) (32 avenue de l'Observatoire 25044 BESANCON CEDEX - France)","institution_ids":["https://openalex.org/I2802759292"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065120560"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292"],"apc_list":null,"apc_paid":null,"fwci":0.221,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.42465211,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"38","issue":"11","first_page":"1940","last_page":"1962"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9968000054359436,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7277653813362122},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6331807971000671},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.618200957775116},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5645394921302795},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5460333228111267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5321012735366821},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49029234051704407},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4827693998813629},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43053779006004333},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3681783080101013},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.351240873336792},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2569003105163574},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23808366060256958},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.192600280046463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1845092475414276},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15411609411239624}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7277653813362122},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6331807971000671},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.618200957775116},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5645394921302795},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5460333228111267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5321012735366821},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49029234051704407},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4827693998813629},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43053779006004333},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3681783080101013},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.351240873336792},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2569003105163574},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23808366060256958},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.192600280046463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1845092475414276},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15411609411239624},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574719001735","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001735","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-03358333v1","is_oa":false,"landing_page_url":"https://hal.science/hal-03358333","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, 2020, 38 (11), pp.1940-1962. ⟨10.1017/S0263574719001735⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:HAL:hal-04249804v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04249804","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, 2020, 38 (11), pp.1940-1962. ⟨10.1017/S0263574719001735⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04249804v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04249804","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, 2020, 38 (11), pp.1940-1962. ⟨10.1017/S0263574719001735⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2256839388","display_name":"MicroRobot-assisted Cholesteatoma Surgery","funder_award_id":"ANR-17-CE19-0005","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W30233023","https://openalex.org/W187586930","https://openalex.org/W1542559534","https://openalex.org/W1574656249","https://openalex.org/W1689251781","https://openalex.org/W1821537228","https://openalex.org/W1926428750","https://openalex.org/W1990881389","https://openalex.org/W1997274797","https://openalex.org/W2021594071","https://openalex.org/W2024492937","https://openalex.org/W2025166055","https://openalex.org/W2026573005","https://openalex.org/W2038853452","https://openalex.org/W2042803738","https://openalex.org/W2042913147","https://openalex.org/W2069248546","https://openalex.org/W2089145243","https://openalex.org/W2092766727","https://openalex.org/W2105085370","https://openalex.org/W2132331000","https://openalex.org/W2139287760","https://openalex.org/W2156137014","https://openalex.org/W2157729122","https://openalex.org/W2167971611","https://openalex.org/W2212425166","https://openalex.org/W2240883112","https://openalex.org/W2502024718","https://openalex.org/W2736429881","https://openalex.org/W2739382179","https://openalex.org/W2765552501","https://openalex.org/W2790395680","https://openalex.org/W2802897910","https://openalex.org/W2895184509","https://openalex.org/W4233243442","https://openalex.org/W6634429945"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W405964254","https://openalex.org/W2134215012"],"abstract_inverted_index":{"SUMMARY":[0],"Constrained":[1],"motion":[2,31,52,108],"is":[3,72],"essential":[4],"for":[5,13],"varying":[6],"robotics":[7],"tasks,":[8],"especially":[9],"in":[10,144,187],"surgical":[11,76,136],"robotics,":[12],"instance,":[14],"the":[15,27,34,39,45,55,64,69,97,106,111,126,155,169,176,179],"case":[16],"of":[17,26,44,68,157,178,189],"minimally":[18],"invasive":[19],"interventions.":[20],"This":[21],"article":[22],"proposes":[23],"generic":[24],"formulations":[25],"classical":[28],"bilateral":[29,115],"constrained":[30,51,107],"(i.e.,":[32,53],"when":[33,54],"incision":[35,57],"hole":[36,56],"has":[37,58],"almost":[38],"same":[40],"diameter":[41,61],"as":[42,47,49,79,182,184,191,193],"that":[43],"tool)":[46],"well":[48,183,192],"unilaterally":[50],"a":[59,83,120,148],"larger":[60],"compared":[62],"to":[63,103,153],"tool":[65],"diameter).":[66],"One":[67],"latter":[70],"constraints":[71],"combined":[73],"with":[74,131],"another":[75],"task":[77,99],"such":[78],"incision/ablation":[80],"or":[81,116,134],"suturing":[82],"wound":[84],"(modeled":[85],"here":[86],"by":[87],"3D":[88,121],"geometric":[89],"paths).":[90],"The":[91,138],"developed":[92],"control":[93],"methods":[94,128,140],"based":[95],"on":[96,110],"hierarchical":[98],"approach":[100],"are":[101],"able":[102],"manage":[104],"simultaneously":[105],"(depending":[109],"configuration":[112],"case,":[113],"i.e.,":[114],"unilateral":[117],"constraint)":[118],"and":[119,171],"path":[122],"following.":[123],"In":[124],"addition,":[125],"proposed":[127,139,152,159,180],"can":[129],"operate":[130],"both":[132],"straight":[133],"curved":[135],"tools.":[137],"were":[141,165],"successfully":[142],"validated":[143],"various":[145],"scenarios.":[146],"Foremost,":[147],"simulation":[149,170],"framework":[150],"was":[151],"access":[154],"performances":[156,186],"each":[158],"controller.":[160],"Thereafter,":[161],"several":[162],"experimental":[163,172],"validations":[164],"carried":[166],"out.":[167],"Both":[168],"results":[173],"have":[174],"demonstrated":[175],"relevance":[177],"approach,":[181],"promising":[185],"terms":[188],"behavior":[190],"accuracy.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2020-01-23T00:00:00"}