{"id":"https://openalex.org/W3133408962","doi":"https://doi.org/10.1109/access.2021.3059714","title":"A General Robot Inverse Kinematics Solution Method Based on Improved PSO Algorithm","display_name":"A General Robot Inverse Kinematics Solution Method Based on Improved PSO Algorithm","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3133408962","doi":"https://doi.org/10.1109/access.2021.3059714","mag":"3133408962"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3059714","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3059714","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09354790.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09354790.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100729170","display_name":"Yiyang Liu","orcid":"https://orcid.org/0009-0003-2694-9740"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liu Yiyang","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","Key Laboratory of Networked Control Systems, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-7839-050X","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Key Laboratory of Networked Control Systems, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023756507","display_name":"Jiali Xi","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I83714178","display_name":"Shenyang Jianzhu University","ror":"https://ror.org/01zr73v18","country_code":"CN","type":"education","lineage":["https://openalex.org/I83714178"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiali Xi","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","Shenyang Jianzhu University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-5349-5751","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenyang Jianzhu University, Shenyang, China","institution_ids":["https://openalex.org/I83714178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005486946","display_name":"Hongfei Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Hongfei","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085048408","display_name":"Zhining Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Zhining","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","School of Information Science and Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Information Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035769193","display_name":"Liangliang Sun","orcid":"https://orcid.org/0000-0002-7292-3934"},"institutions":[{"id":"https://openalex.org/I83714178","display_name":"Shenyang Jianzhu University","ror":"https://ror.org/01zr73v18","country_code":"CN","type":"education","lineage":["https://openalex.org/I83714178"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sun Liangliang","raw_affiliation_strings":["Shenyang Jianzhu University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-7292-3934","affiliations":[{"raw_affiliation_string":"Shenyang Jianzhu University, Shenyang, China","institution_ids":["https://openalex.org/I83714178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100729170"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":6.9824,"has_fulltext":true,"cited_by_count":95,"citation_normalized_percentile":{"value":0.97835596,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"9","issue":null,"first_page":"32341","last_page":"32350"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980999827384949,"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":0.9980999827384949,"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":0.9980000257492065,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9861999750137329,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.8209809064865112},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6225956082344055},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5648056268692017},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5521308183670044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5108916163444519},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5090519785881042},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.45374900102615356},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.44697627425193787},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36995062232017517},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3389941453933716},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3284076452255249},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2479850947856903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19333529472351074}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8209809064865112},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6225956082344055},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5648056268692017},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5521308183670044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5108916163444519},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5090519785881042},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.45374900102615356},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.44697627425193787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36995062232017517},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3389941453933716},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3284076452255249},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2479850947856903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19333529472351074},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2021.3059714","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3059714","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09354790.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:061ec98583ce411f972c4aa170280916","is_oa":true,"landing_page_url":"https://doaj.org/article/061ec98583ce411f972c4aa170280916","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 32341-32350 (2021)","raw_type":"article"},{"id":"pmh:oai:ir.sia.cn/:173321/28604","is_oa":false,"landing_page_url":"http://ir.sia.cn/handle/173321/28604","pdf_url":null,"source":{"id":"https://openalex.org/S4377196984","display_name":"SIA OpenIR (Chinese Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I19820366","host_organization_name":"Chinese Academy of Sciences","host_organization_lineage":["https://openalex.org/I19820366"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3059714","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3059714","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09354790.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.7599999904632568}],"awards":[{"id":"https://openalex.org/G1750390440","display_name":null,"funder_award_id":"LQGD2019014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4410264701","display_name":null,"funder_award_id":"6187317","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5789765731","display_name":null,"funder_award_id":"2019-ZD-0218","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"id":"https://openalex.org/G8471520140","display_name":null,"funder_award_id":"U1908212","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3133408962.pdf","grobid_xml":"https://content.openalex.org/works/W3133408962.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1418108976","https://openalex.org/W1560270123","https://openalex.org/W1626821460","https://openalex.org/W2194549225","https://openalex.org/W2329760066","https://openalex.org/W2548669441","https://openalex.org/W2601535370","https://openalex.org/W2625168508","https://openalex.org/W2781105378","https://openalex.org/W2897001613","https://openalex.org/W2898351082","https://openalex.org/W2899380192","https://openalex.org/W2900839427","https://openalex.org/W2918748172","https://openalex.org/W2942005840","https://openalex.org/W2945713203","https://openalex.org/W2954814099","https://openalex.org/W2954914826","https://openalex.org/W2957153604","https://openalex.org/W3009214362","https://openalex.org/W3018311626","https://openalex.org/W3080342797","https://openalex.org/W3083912519","https://openalex.org/W3110880468","https://openalex.org/W4391877737"],"related_works":["https://openalex.org/W2972304526","https://openalex.org/W2375415610","https://openalex.org/W2119719871","https://openalex.org/W2811382984","https://openalex.org/W1971821535","https://openalex.org/W4283266117","https://openalex.org/W2357499095","https://openalex.org/W2119963650","https://openalex.org/W3129004068","https://openalex.org/W2380210784"],"abstract_inverted_index":{"Robots":[0],"whose":[1],"geometric":[2],"structure":[3],"does":[4],"not":[5,78],"meet":[6],"the":[7,15,22,30,39,74,84,96,104,114,121,133,137,144,147,151,164,170,174,193,205],"Pieper":[8],"criterion":[9],"are":[10,126],"called":[11],"general":[12,20,68,183],"robots.":[13,69],"For":[14],"inverse":[16,53,186,209],"kinematic":[17],"operation":[18],"of":[19,83,98,116,146,207],"robots,":[21],"closed":[23],"solution":[24,32,119,187,203],"method":[25,56,93,199],"cannot":[26,42],"be":[27,43],"solved,":[28],"and":[29,38,65,136,167,189,196,211,216],"numerical":[31],"calculation":[33,55],"amount":[34],"is":[35,100,107,140],"too":[36],"large":[37],"singular":[40],"position":[41],"calculated.":[44],"To":[45],"solve":[46],"this":[47,49],"problem,":[48],"paper":[50],"proposes":[51],"an":[52],"kinematics":[54,185,218],"based":[57,94],"on":[58,95],"improved":[59,176],"particle":[60,75,148],"swarm":[61],"optimization":[62,85,130],"(PSO)":[63],"algorithm":[64,180],"applicable":[66],"to":[67,72,80,112,128,142,204],"In":[70],"order":[71],"avoid":[73],"update":[76],"rate":[77],"adapting":[79],"each":[81],"stage":[82],"process,":[86],"a":[87,201,213],"nonlinear":[88],"dynamic":[89],"inertia":[90],"weight":[91],"adjustment":[92],"concept":[97],"similarity":[99],"introduced,":[101],"so":[102],"that":[103,173],"search":[105,131],"process":[106],"more":[108,214],"robust;":[109],"in":[110,150],"addition,":[111],"overcome":[113],"problem":[115],"local":[117],"optimal":[118],"At":[120],"same":[122,134],"time,":[123,135],"multiple":[124],"populations":[125],"introduced":[127],"perform":[129],"at":[132],"immigration":[138],"operator":[139],"proposed":[141,175],"increase":[143],"diversity":[145],"population":[149],"iteration.":[152],"This":[153,198],"article":[154],"uses":[155],"Comau":[156],"NJ-220":[157],"robot":[158,184,208,221],"for":[159,182,220],"test":[160],"verification,":[161],"compared":[162],"with":[163],"original":[165],"PSO":[166,177],"multi-subswarm":[168],"algorithm,":[169],"results":[171],"show":[172],"has":[178],"higher":[179],"stability":[181],"problems,":[188],"can":[190],"greatly":[191],"improve":[192],"convergence":[194],"accuracy":[195],"speed.":[197],"provides":[200,212],"new":[202],"field":[206],"kinematics,":[210],"efficient":[215],"stable":[217],"foundation":[219],"motion":[222],"planning.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":5}],"updated_date":"2026-05-19T08:33:51.333923","created_date":"2025-10-10T00:00:00"}