{"id":"https://openalex.org/W3179057398","doi":"https://doi.org/10.1109/access.2021.3095847","title":"A Kinematically Constrained Reparameterization Approach to Optimal Time and Jerk Motion of Industrial Machines","display_name":"A Kinematically Constrained Reparameterization Approach to Optimal Time and Jerk Motion of Industrial Machines","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3179057398","doi":"https://doi.org/10.1109/access.2021.3095847","mag":"3179057398"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3095847","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3095847","pdf_url":null,"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://doi.org/10.1109/access.2021.3095847","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075485974","display_name":"Min Set Paing","orcid":null},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Min Set Paing","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3729-0289","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027720737","display_name":"Enock William Nshama","orcid":"https://orcid.org/0000-0003-1166-4745"},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]},{"id":"https://openalex.org/I182078086","display_name":"University of Dar es Salaam","ror":"https://ror.org/0479aed98","country_code":"TZ","type":"education","lineage":["https://openalex.org/I182078086"]}],"countries":["JP","TZ"],"is_corresponding":false,"raw_author_name":"Enock William Nshama","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan","Department of Mechanical Engineering, University of Dar es Salaam, Dar es Salaam, Tanzania"],"raw_orcid":"https://orcid.org/0000-0003-1166-4745","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan","institution_ids":["https://openalex.org/I136259955"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Dar es Salaam, Dar es Salaam, Tanzania","institution_ids":["https://openalex.org/I182078086"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062939314","display_name":"Naoki Uchiyama","orcid":"https://orcid.org/0000-0003-3642-9944"},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Uchiyama","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan","institution_ids":["https://openalex.org/I136259955"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.5178,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.59324177,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"97843","last_page":"97854"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9987999796867371,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9696000218391418,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.9534174203872681},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7802155613899231},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6587297320365906},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.599706768989563},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5653917789459229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.549847424030304},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5123230218887329},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5067690014839172},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44852912425994873},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4372010827064514},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.40308719873428345},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35591503977775574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12554284930229187},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12380543351173401}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.9534174203872681},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7802155613899231},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6587297320365906},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.599706768989563},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5653917789459229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.549847424030304},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5123230218887329},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5067690014839172},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44852912425994873},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4372010827064514},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.40308719873428345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35591503977775574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12554284930229187},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12380543351173401},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3095847","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3095847","pdf_url":null,"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:6d9f3d487b5049fdb2534eab2089f1bb","is_oa":true,"landing_page_url":"https://doaj.org/article/6d9f3d487b5049fdb2534eab2089f1bb","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 97843-97854 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3095847","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3095847","pdf_url":null,"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":[],"awards":[{"id":"https://openalex.org/G5367592538","display_name":null,"funder_award_id":"JP20K04361","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G6666045498","display_name":"The effectiveness of adaptive control for energy saving and its experimental verification","funder_award_id":"20K04361","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320316474","display_name":"Machine Tool Technologies Research Foundation","ror":null},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1548879090","https://openalex.org/W1574514837","https://openalex.org/W1582919213","https://openalex.org/W1589509225","https://openalex.org/W1920358242","https://openalex.org/W1926428750","https://openalex.org/W1967911984","https://openalex.org/W1971745761","https://openalex.org/W1982926243","https://openalex.org/W1984032774","https://openalex.org/W1994843712","https://openalex.org/W1997188340","https://openalex.org/W2019832409","https://openalex.org/W2026725228","https://openalex.org/W2039317814","https://openalex.org/W2064961696","https://openalex.org/W2072073129","https://openalex.org/W2072620509","https://openalex.org/W2073098058","https://openalex.org/W2076048129","https://openalex.org/W2078997732","https://openalex.org/W2081823549","https://openalex.org/W2082972783","https://openalex.org/W2101340954","https://openalex.org/W2110018596","https://openalex.org/W2111034649","https://openalex.org/W2111340501","https://openalex.org/W2115091574","https://openalex.org/W2126441924","https://openalex.org/W2133114770","https://openalex.org/W2152421929","https://openalex.org/W2152616154","https://openalex.org/W2160514056","https://openalex.org/W2225813005","https://openalex.org/W2238910269","https://openalex.org/W2579683384","https://openalex.org/W2609051861","https://openalex.org/W2738940074","https://openalex.org/W2768566548","https://openalex.org/W2769342426","https://openalex.org/W2887720445","https://openalex.org/W2897125805","https://openalex.org/W3093560247","https://openalex.org/W3128244059","https://openalex.org/W6676947459"],"related_works":["https://openalex.org/W2039317814","https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2361427670","https://openalex.org/W2139910871"],"abstract_inverted_index":{"The":[0,116,157],"increasing":[1],"demands":[2],"of":[3,10,27,40,113],"a":[4,25,52,125,144],"modern":[5],"industry":[6],"require":[7],"the":[8,32,37,41,59,84,93,109,114,130,151,169],"usage":[9],"industrial":[11],"machines":[12],"to":[13,45,82,91,102,142],"perform":[14],"various":[15],"tasks":[16],"with":[17,43,135,147,164,173],"complex":[18],"profiles.":[19],"Tasks":[20],"are":[21,47,78,89,100],"usually":[22],"given":[23],"by":[24,61,80,162],"set":[26],"motion":[28],"trajectory":[29,42,60,76,85],"via-points;":[30],"thus":[31],"geometric":[33,72,166],"path":[34,73],"representation":[35],"and":[36,69,75,97,106,111,120,137,168],"proper":[38],"reparameterization":[39,55,77],"respect":[44],"time":[46,68,119],"necessary.":[48],"This":[49],"study":[50],"presents":[51],"kinematically":[53],"constrained":[54],"approach":[56],"for":[57,67],"generating":[58],"formulating":[62],"an":[63,174],"optimal":[64],"control":[65],"problem":[66],"jerk.":[70],"Both":[71],"generation":[74],"adopted":[79],"B-splines":[81],"ensure":[83,103],"smoothness.":[86],"Inequality":[87],"constraints":[88,99],"proposed":[90,158],"satisfy":[92],"axial":[94],"kinematic":[95],"limits,":[96],"equality":[98],"included":[101],"zero":[104],"velocity":[105],"acceleration":[107],"at":[108],"start":[110],"end":[112],"trajectory.":[115],"trade-off":[117,153],"between":[118],"jerk":[121],"is":[122,140,155,160,171],"formulated":[123],"as":[124],"bi-objective":[126],"optimization":[127],"problem.":[128],"Moreover,":[129],"normalized":[131],"normal":[132],"constraint":[133],"method":[134,159],"divide":[136],"conquer":[138],"algorithm":[139],"applied":[141],"generate":[143],"Pareto":[145],"front":[146],"significant":[148],"trade-offs.":[149],"Subsequently,":[150],"best":[152],"solution":[154],"chosen.":[156],"investigated":[161],"simulation":[163],"several":[165],"profiles,":[167],"effectiveness":[170],"validated":[172],"experimental":[175],"result.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
