{"id":"https://openalex.org/W4410204315","doi":"https://doi.org/10.1109/access.2025.3568150","title":"Optimizing Variable Admittance Control for Remote Ultrasound Scanning Under Uncertain Environment","display_name":"Optimizing Variable Admittance Control for Remote Ultrasound Scanning Under Uncertain Environment","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4410204315","doi":"https://doi.org/10.1109/access.2025.3568150"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3568150","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3568150","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.2025.3568150","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006909112","display_name":"Songjie Xiao","orcid":"https://orcid.org/0000-0002-4568-4106"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Songjie Xiao","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China"],"raw_orcid":"https://orcid.org/0000-0002-4568-4106","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033560926","display_name":"Tengyue Wang","orcid":"https://orcid.org/0009-0007-9395-0417"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tengyue Wang","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China"],"raw_orcid":"https://orcid.org/0009-0007-9395-0417","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061038190","display_name":"Yun Long","orcid":"https://orcid.org/0000-0003-0627-489X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Long","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048861559","display_name":"L. Yang","orcid":"https://orcid.org/0000-0002-3294-0879"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liangjing Yang","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China"],"raw_orcid":"https://orcid.org/0000-0002-3294-0879","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5006909112"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.485,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.9258238,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"13","issue":null,"first_page":"83274","last_page":"83284"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.7315000295639038,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.7315000295639038,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12537","display_name":"Flow Measurement and Analysis","score":0.6801999807357788,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T14353","display_name":"Wireless Sensor Networks for Data Analysis","score":0.6322000026702881,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/admittance","display_name":"Admittance","score":0.7612988948822021},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.7092826962471008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6067596673965454},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39293384552001953},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36466267704963684},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.35927414894104004},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.19706949591636658},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17732924222946167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15997081995010376},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14992499351501465},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.14108377695083618},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12516158819198608}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.7612988948822021},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.7092826962471008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6067596673965454},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39293384552001953},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36466267704963684},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.35927414894104004},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.19706949591636658},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17732924222946167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15997081995010376},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14992499351501465},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.14108377695083618},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12516158819198608},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3568150","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3568150","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:a827e54efe484dce862607d0d744fdfa","is_oa":true,"landing_page_url":"https://doaj.org/article/a827e54efe484dce862607d0d744fdfa","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 13, Pp 83274-83284 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3568150","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3568150","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":[{"score":0.7400000095367432,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G5101529335","display_name":null,"funder_award_id":"230904701283901","funder_id":"https://openalex.org/F4320321106","funder_display_name":"Ministry of Education of the People's Republic of China"}],"funders":[{"id":"https://openalex.org/F4320321106","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934"},{"id":"https://openalex.org/F4320326881","display_name":"State Key Laboratory of Food Science and Technology","ror":"https://ror.org/04zgj7914"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1487667890","https://openalex.org/W1548528537","https://openalex.org/W1890857480","https://openalex.org/W1987034518","https://openalex.org/W2016958754","https://openalex.org/W2057538835","https://openalex.org/W2075422831","https://openalex.org/W2096995350","https://openalex.org/W2296039882","https://openalex.org/W2409525484","https://openalex.org/W2771354076","https://openalex.org/W2789837488","https://openalex.org/W2792539092","https://openalex.org/W2939037429","https://openalex.org/W3043316223","https://openalex.org/W3098362553","https://openalex.org/W3157010837","https://openalex.org/W3159554907","https://openalex.org/W3205841225","https://openalex.org/W3217589864","https://openalex.org/W4285102261","https://openalex.org/W4293704400","https://openalex.org/W4380318419","https://openalex.org/W4383108835","https://openalex.org/W4384701644","https://openalex.org/W4390577974","https://openalex.org/W4390788260","https://openalex.org/W4394966836","https://openalex.org/W4396821882","https://openalex.org/W4405785794","https://openalex.org/W4407565851"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2047335472","https://openalex.org/W2367857055","https://openalex.org/W3180133250","https://openalex.org/W2024162929","https://openalex.org/W2363278848","https://openalex.org/W1999989966","https://openalex.org/W2021013760","https://openalex.org/W2031634947"],"abstract_inverted_index":{"Precise":[0],"force":[1,28,56,77,108,158,169],"control":[2,21,57,100],"in":[3,25,37],"remote":[4],"robotic":[5],"ultrasound":[6,88,140],"systems":[7],"is":[8,69,94,116],"critical":[9],"for":[10,191],"optimizing":[11],"image":[12],"quality":[13],"and":[14,78,125,149,179,188,194],"ensuring":[15],"patient":[16],"safety.":[17],"However,":[18],"conventional":[19],"admittance":[20,49],"strategies":[22],"face":[23],"limitations":[24],"achieving":[26],"high-precision":[27],"tracking":[29,36,109,159,170],"during":[30],"interaction":[31,166],"while":[32,161],"maintaining":[33,162],"accurate":[34],"position":[35,79],"free":[38],"motion.":[39],"To":[40],"address":[41],"this":[42],"challenge,":[43],"we":[44],"propose":[45],"an":[46,112],"adaptive":[47],"variable":[48,98],"approach":[50],"integrated":[51],"with":[52,83,182],"a":[53,72,91,138,145],"novel":[54],"coarse-to-fine":[55],"strategy,":[58],"which":[59],"requires":[60],"online":[61],"estimation":[62,104],"of":[63,130,176,185],"environmental":[64,67],"properties.":[65],"The":[66,128,153,168],"information":[68],"estimated":[70],"by":[71],"fusion":[73],"algorithm":[74],"that":[75],"combines":[76],"data":[80],"from":[81,87],"sensors":[82],"confidence":[84],"scores":[85],"derived":[86],"images.":[89],"Furthermore,":[90],"compensation":[92],"term":[93],"introduced":[95],"to":[96,102,118],"the":[97,131,165,192],"stiffness":[99,126],"law":[101],"mitigate":[103],"uncertainties,":[105],"thereby":[106],"enhancing":[107],"accuracy.":[110],"Additionally,":[111],"energy":[113],"tank":[114],"mechanism":[115],"implemented":[117],"guarantee":[119],"system":[120],"passivity":[121],"under":[122],"varying":[123],"damping":[124],"conditions.":[127],"effectiveness":[129],"proposed":[132,154],"method":[133],"was":[134],"experimentally":[135],"validated":[136],"using":[137],"teleoperated":[139],"system,":[141],"tested":[142],"on":[143],"both":[144],"vascular":[146],"phantom":[147,193],"model":[148],"human":[150,195],"upper":[151],"limb.":[152],"controller":[155],"demonstrated":[156],"stable":[157],"performance":[160],"compliance":[163],"throughout":[164],"process.":[167],"errors":[171],"were":[172],"maintained":[173],"within":[174],"ranges":[175],"0.2":[177,189],"N":[178,181,187,190],"0.4":[180],"standard":[183],"deviation":[184],"0.02":[186],"experiments,":[196],"respectively.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-31T08:46:17.908082","created_date":"2025-10-10T00:00:00"}