{"id":"https://openalex.org/W2993077618","doi":"https://doi.org/10.1109/ccta.2019.8920693","title":"Non-linear System Identification and State Estimation in a Pneumatic Based Soft Continuum Robot","display_name":"Non-linear System Identification and State Estimation in a Pneumatic Based Soft Continuum Robot","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W2993077618","doi":"https://doi.org/10.1109/ccta.2019.8920693","mag":"2993077618"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2019.8920693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2019.8920693","pdf_url":null,"source":{"id":"https://openalex.org/S4306498490","display_name":"2019 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"article","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/A5045821623","display_name":"Junn Yong Loo","orcid":"https://orcid.org/0000-0001-9370-600X"},"institutions":[{"id":"https://openalex.org/I11662577","display_name":"Monash University Malaysia","ror":"https://ror.org/00yncr324","country_code":"MY","type":"education","lineage":["https://openalex.org/I11662577"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"Junn Yong Loo","raw_affiliation_strings":["School of Engineering and Advanced Engineering, Platform, Monash University Malaysia, Petaling Jaya, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Advanced Engineering, Platform, Monash University Malaysia, Petaling Jaya, Malaysia","institution_ids":["https://openalex.org/I11662577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005855180","display_name":"Kah Chun Kong","orcid":null},"institutions":[{"id":"https://openalex.org/I11662577","display_name":"Monash University Malaysia","ror":"https://ror.org/00yncr324","country_code":"MY","type":"education","lineage":["https://openalex.org/I11662577"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Kah Chun Kong","raw_affiliation_strings":["School of Engineering and Advanced Engineering, Platform, Monash University Malaysia, Petaling Jaya, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Advanced Engineering, Platform, Monash University Malaysia, Petaling Jaya, Malaysia","institution_ids":["https://openalex.org/I11662577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047646061","display_name":"Chee Pin Tan","orcid":"https://orcid.org/0000-0003-0162-3763"},"institutions":[{"id":"https://openalex.org/I11662577","display_name":"Monash University Malaysia","ror":"https://ror.org/00yncr324","country_code":"MY","type":"education","lineage":["https://openalex.org/I11662577"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Chee Pin Tan","raw_affiliation_strings":["School of Engineering and Advanced Engineering, Platform, Monash University Malaysia, Petaling Jaya, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Advanced Engineering, Platform, Monash University Malaysia, Petaling Jaya, Malaysia","institution_ids":["https://openalex.org/I11662577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041564618","display_name":"Surya G. Nurzaman","orcid":"https://orcid.org/0000-0002-8157-6495"},"institutions":[{"id":"https://openalex.org/I11662577","display_name":"Monash University Malaysia","ror":"https://ror.org/00yncr324","country_code":"MY","type":"education","lineage":["https://openalex.org/I11662577"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Surya Girinatha Nurzaman","raw_affiliation_strings":["School of Engineering and Advanced Engineering, Platform, Monash University Malaysia, Petaling Jaya, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Advanced Engineering, Platform, Monash University Malaysia, Petaling Jaya, Malaysia","institution_ids":["https://openalex.org/I11662577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5045821623"],"corresponding_institution_ids":["https://openalex.org/I11662577"],"apc_list":null,"apc_paid":null,"fwci":4.8122,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.96789493,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"39","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9664000272750854,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9549000263214111,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7549601793289185},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6363484859466553},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6214841604232788},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5379961133003235},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5349639058113098},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5276814103126526},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5162670612335205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47900861501693726},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4679132103919983},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.46106797456741333},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4375174343585968},{"id":"https://openalex.org/keywords/soft-sensor","display_name":"Soft sensor","score":0.42276644706726074},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4103170931339264},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35573816299438477},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31772181391716003},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20102140307426453},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.15803447365760803},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.14873182773590088},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08901667594909668}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7549601793289185},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6363484859466553},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6214841604232788},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5379961133003235},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5349639058113098},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5276814103126526},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5162670612335205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47900861501693726},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4679132103919983},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.46106797456741333},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4375174343585968},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.42276644706726074},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4103170931339264},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35573816299438477},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31772181391716003},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20102140307426453},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.15803447365760803},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.14873182773590088},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08901667594909668},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta.2019.8920693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2019.8920693","pdf_url":null,"source":{"id":"https://openalex.org/S4306498490","display_name":"2019 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W45362603","https://openalex.org/W1024591929","https://openalex.org/W1486256885","https://openalex.org/W1603631609","https://openalex.org/W1925606516","https://openalex.org/W1970557511","https://openalex.org/W1972716133","https://openalex.org/W1995071895","https://openalex.org/W2006447203","https://openalex.org/W2013290215","https://openalex.org/W2063797945","https://openalex.org/W2101667962","https://openalex.org/W2117212572","https://openalex.org/W2121817652","https://openalex.org/W2124540383","https://openalex.org/W2134247245","https://openalex.org/W2137226063","https://openalex.org/W2151835733","https://openalex.org/W2158730742","https://openalex.org/W2166585449","https://openalex.org/W2337157527","https://openalex.org/W2413886764","https://openalex.org/W2512635237","https://openalex.org/W2561609334","https://openalex.org/W2567812607","https://openalex.org/W2606699054","https://openalex.org/W2621263557","https://openalex.org/W2766759288","https://openalex.org/W2782435507","https://openalex.org/W2789300578","https://openalex.org/W2790374560","https://openalex.org/W2792360281","https://openalex.org/W2876596030","https://openalex.org/W2896978180","https://openalex.org/W2908802907","https://openalex.org/W2913245940","https://openalex.org/W2913446864","https://openalex.org/W2925926883","https://openalex.org/W2967427547","https://openalex.org/W4232073473","https://openalex.org/W4302364527","https://openalex.org/W6677763916","https://openalex.org/W6730774276","https://openalex.org/W6755372538","https://openalex.org/W7020031218"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2097933059","https://openalex.org/W2374290272","https://openalex.org/W4386158748","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W2162299404","https://openalex.org/W2103062922","https://openalex.org/W3207029500","https://openalex.org/W246726080"],"abstract_inverted_index":{"Sensory":[0],"data":[1],"play":[2],"a":[3,62,83,99,141],"significant":[4],"role":[5],"in":[6,18],"the":[7,46,66,95,106,109,121,125,137,146,154],"control":[8],"of":[9,68,73,98],"robots.":[10],"While":[11],"soft":[12,63,102],"robots":[13],"are":[14],"promising":[15],"for":[16],"operation":[17],"unstructured":[19],"environments,":[20],"it":[21],"may":[22],"be":[23],"difficult":[24],"to":[25,29,35,40,44,61,93,119],"sensorize":[26],"them":[27],"due":[28],"their":[30],"inherent":[31],"softness.":[32],"One":[33],"way":[34],"overcome":[36],"this":[37,79],"challenge":[38,67],"is":[39,150,157],"use":[41,113],"an":[42,59,70,114],"observer/filter":[43,60],"estimate":[45,94,120,126,136],"variables":[47],"(states)":[48],"that":[49,133],"would":[50],"have":[51],"been":[52],"measured":[53],"by":[54],"those":[55],"sensors.":[56],"Nevertheless,":[57],"applying":[58],"robot":[64],"introduces":[65],"requiring":[69],"analytical":[71],"model":[72,105,149],"these":[74],"highly":[75],"nonlinear":[76,87],"systems.":[77],"In":[78],"paper,":[80],"we":[81],"develop":[82],"framework":[84],"based":[85],"on":[86],"system":[88,148],"identification":[89],"and":[90,112,123,153],"state":[91],"estimation":[92],"curvature":[96,122,138],"angle":[97,139],"pneumatic-based":[100],"tentacle":[101,107],"robot.":[103],"We":[104],"using":[108,127],"wavelet/sigmoid":[110],"network,":[111],"Extended":[115],"Kalman":[116],"Filter":[117],"(EKF)":[118],"verify":[124],"camera":[128],"vision.":[129],"The":[130],"results":[131],"show":[132],"EKF":[134],"can":[135],"at":[140],"low":[142],"error,":[143],"even":[144],"when":[145],"identified":[147],"not":[151],"accurate":[152],"sensor":[155],"measurement":[156],"noisy.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}