{"id":"https://openalex.org/W2062510925","doi":"https://doi.org/10.1109/acc.2012.6315681","title":"Dual loop control of cable-conduit actuated devices","display_name":"Dual loop control of cable-conduit actuated devices","publication_year":2012,"publication_date":"2012-06-01","ids":{"openalex":"https://openalex.org/W2062510925","doi":"https://doi.org/10.1109/acc.2012.6315681","mag":"2062510925"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2012.6315681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2012.6315681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5102870612","display_name":"Varun Agrawal","orcid":"https://orcid.org/0009-0007-5301-7163"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"V. Agrawal","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","School of Mechanical Engineering Purdue University  West Lafayette IN 47907 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Mechanical Engineering Purdue University  West Lafayette IN 47907 USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044613672","display_name":"William J. Peine","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"W. J. Peine","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","School of Mechanical Engineering Purdue University  West Lafayette IN 47907 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Mechanical Engineering Purdue University  West Lafayette IN 47907 USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100757931","display_name":"Bin Yao","orcid":"https://orcid.org/0000-0003-3142-4570"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bin Yao","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","School of Mechanical Engineering Purdue University  West Lafayette IN 47907 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Mechanical Engineering Purdue University  West Lafayette IN 47907 USA","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":null,"first_page":"2621","last_page":"2626"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9990000128746033,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9262999892234802,"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/electrical-conduit","display_name":"Electrical conduit","score":0.7006384134292603},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6786261200904846},{"id":"https://openalex.org/keywords/dual-loop","display_name":"Dual loop","score":0.6758322715759277},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6540273427963257},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5472937226295471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5000355243682861},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4941745102405548},{"id":"https://openalex.org/keywords/feedback-loop","display_name":"Feedback loop","score":0.48410189151763916},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4609329104423523},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.44616594910621643},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4238080084323883},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.4227822721004486},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3997052311897278},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34201955795288086},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22502806782722473},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07657542824745178}],"concepts":[{"id":"https://openalex.org/C89836073","wikidata":"https://www.wikidata.org/wiki/Q1719631","display_name":"Electrical conduit","level":2,"score":0.7006384134292603},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6786261200904846},{"id":"https://openalex.org/C2779691726","wikidata":"https://www.wikidata.org/wiki/Q5310214","display_name":"Dual loop","level":3,"score":0.6758322715759277},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6540273427963257},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5472937226295471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5000355243682861},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4941745102405548},{"id":"https://openalex.org/C186886427","wikidata":"https://www.wikidata.org/wiki/Q5441213","display_name":"Feedback loop","level":2,"score":0.48410189151763916},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4609329104423523},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.44616594910621643},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4238080084323883},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.4227822721004486},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3997052311897278},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34201955795288086},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22502806782722473},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07657542824745178},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2012.6315681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2012.6315681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1527846441","https://openalex.org/W2015975054","https://openalex.org/W2063367762","https://openalex.org/W2098775095","https://openalex.org/W2103229768","https://openalex.org/W2129615936","https://openalex.org/W2140031923","https://openalex.org/W2146496978","https://openalex.org/W2154578892","https://openalex.org/W2170090733","https://openalex.org/W4206484418"],"related_works":["https://openalex.org/W2324377423","https://openalex.org/W2074649795","https://openalex.org/W4281772681","https://openalex.org/W2081562518","https://openalex.org/W2017101110","https://openalex.org/W2951394850","https://openalex.org/W294540382","https://openalex.org/W2105065825","https://openalex.org/W2017071902","https://openalex.org/W2292656964"],"abstract_inverted_index":{"Nonlinearities":[0],"in":[1,9,27,30,75,121],"cable-conduit":[2,38],"actuation":[3],"has":[4],"been":[5,129],"a":[6,60,87,91,99,105],"major":[7],"drawback":[8],"operating":[10],"flexible":[11],"endoscopes,":[12],"catheters":[13],"and":[14,42,125],"other":[15],"robotic":[16],"devices.":[17],"Generally,":[18],"these":[19],"nonlinearities":[20],"are":[21,84],"manually":[22],"compensated":[23],"by":[24],"the":[25,28,31,46,70,78,122],"human":[26],"loop":[29,62],"absence":[32],"of":[33,37,48],"any":[34],"automated":[35],"control":[36,65],"transmission.":[39],"Furthermore,":[40],"size":[41],"safety":[43],"constraints":[44],"limit":[45],"type":[47],"sensors":[49],"that":[50],"can":[51],"be":[52],"used":[53],"for":[54],"feedback":[55,73,96],"control.":[56],"In":[57],"this":[58],"paper,":[59],"dual":[61],"adaptive":[63],"robust":[64],"is":[66],"implemented":[67],"while":[68],"utilizing":[69],"limited":[71],"output":[72,95],"available":[74],"conjunction":[76],"with":[77,94],"intermediate":[79],"actuator":[80],"position":[81],"feedback.":[82],"Experiments":[83],"performed":[85],"on":[86],"gastroscope":[88],"operated":[89],"using":[90],"DC":[92],"motor,":[93],"provided":[97],"through":[98],"medical":[100],"grade":[101],"magnetic":[102],"tracker":[103],"at":[104],"very":[106],"low":[107],"sampling":[108],"rate.":[109],"Experimental":[110],"results":[111],"show":[112],"substantial":[113],"performance":[114],"improvement":[115],"over":[116],"traditional":[117],"manual":[118],"operation.":[119],"Limitations":[120],"controller":[123],"design":[124],"possible":[126],"changes":[127],"have":[128],"discussed.":[130]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
