{"id":"https://openalex.org/W4398782267","doi":"https://doi.org/10.1109/icaci60820.2024.10537029","title":"Optimizing Redundant Manipulator Performance: A Dual-Criteria Control Approach via Dynamic Neural Networks","display_name":"Optimizing Redundant Manipulator Performance: A Dual-Criteria Control Approach via Dynamic Neural Networks","publication_year":2024,"publication_date":"2024-05-16","ids":{"openalex":"https://openalex.org/W4398782267","doi":"https://doi.org/10.1109/icaci60820.2024.10537029"},"language":"en","primary_location":{"id":"doi:10.1109/icaci60820.2024.10537029","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icaci60820.2024.10537029","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 16th International Conference on Advanced Computational Intelligence (ICACI)","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/A5101297819","display_name":"Yuheng Qian","orcid":null},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuheng Qian","raw_affiliation_strings":["Lanzhou University,School of Information Science and Engineering,Lanzhou,China","School of Information Science and Engineering, Lanzhou University, Lanzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lanzhou University,School of Information Science and Engineering,Lanzhou,China","institution_ids":["https://openalex.org/I76214153"]},{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101366128","display_name":"Wentao Yue","orcid":null},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Yue","raw_affiliation_strings":["Lanzhou University,School of Information Science and Engineering,Lanzhou,China","School of Information Science and Engineering, Lanzhou University, Lanzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lanzhou University,School of Information Science and Engineering,Lanzhou,China","institution_ids":["https://openalex.org/I76214153"]},{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100780553","display_name":"Yuzhe Wang","orcid":"https://orcid.org/0009-0006-3398-8512"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuzhe Wang","raw_affiliation_strings":["Lanzhou University,School of Information Science and Engineering,Lanzhou,China","School of Information Science and Engineering, Lanzhou University, Lanzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lanzhou University,School of Information Science and Engineering,Lanzhou,China","institution_ids":["https://openalex.org/I76214153"]},{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76214153"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06057895,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9940000176429749,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9894000291824341,"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/computer-science","display_name":"Computer science","score":0.7283039093017578},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6240344643592834},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5719856023788452},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5544115304946899},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5305001735687256},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5021905899047852},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.47305408120155334},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4698103070259094},{"id":"https://openalex.org/keywords/performance-metric","display_name":"Performance metric","score":0.4570621848106384},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4520943760871887},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.42847487330436707},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.41943150758743286},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35535186529159546},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3453240990638733},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1748153567314148},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15015268325805664},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1096695065498352}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7283039093017578},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6240344643592834},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5719856023788452},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5544115304946899},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5305001735687256},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5021905899047852},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.47305408120155334},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4698103070259094},{"id":"https://openalex.org/C2780898871","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance metric","level":2,"score":0.4570621848106384},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4520943760871887},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.42847487330436707},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.41943150758743286},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35535186529159546},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3453240990638733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1748153567314148},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15015268325805664},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1096695065498352},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icaci60820.2024.10537029","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icaci60820.2024.10537029","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 16th International Conference on Advanced Computational Intelligence (ICACI)","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":28,"referenced_works":["https://openalex.org/W2106296284","https://openalex.org/W2789948227","https://openalex.org/W2943486285","https://openalex.org/W3004039693","https://openalex.org/W3004818638","https://openalex.org/W3035785571","https://openalex.org/W3084295268","https://openalex.org/W3094833759","https://openalex.org/W3135101032","https://openalex.org/W3176537844","https://openalex.org/W3196353935","https://openalex.org/W3202658886","https://openalex.org/W3214519818","https://openalex.org/W4205464095","https://openalex.org/W4225657730","https://openalex.org/W4250589301","https://openalex.org/W4285298094","https://openalex.org/W4291653321","https://openalex.org/W4312901970","https://openalex.org/W4313590748","https://openalex.org/W4376456863","https://openalex.org/W4386824791","https://openalex.org/W4388838075","https://openalex.org/W4390401396","https://openalex.org/W4390738794","https://openalex.org/W4390831406","https://openalex.org/W4391164060","https://openalex.org/W4391876898"],"related_works":["https://openalex.org/W2186864281","https://openalex.org/W4251298892","https://openalex.org/W4255427455","https://openalex.org/W2356013541","https://openalex.org/W2385444679","https://openalex.org/W3133868776","https://openalex.org/W1966025497","https://openalex.org/W144391745","https://openalex.org/W2360644005","https://openalex.org/W68941528"],"abstract_inverted_index":{"Current":[0],"neural":[1,34],"network-based":[2],"control":[3,27],"schemes":[4],"for":[5],"redundant":[6],"manipulators":[7],"predominantly":[8],"focus":[9],"on":[10,30,74],"controlling":[11],"a":[12,25,56,63,68],"single":[13],"performance":[14,20,107],"metric.":[15],"For":[16],"more":[17],"options":[18],"in":[19,80,102],"control,":[21],"this":[22,51,97],"paper":[23],"proposes":[24],"dual-criterion":[26],"strategy":[28,39],"based":[29,73],"an":[31],"untrained":[32],"dynamic":[33],"networks":[35],"algorithm":[36],"(UDA).":[37],"This":[38],"takes":[40],"into":[41,55],"account":[42],"physical":[43],"constraints":[44],"as":[45,47],"well":[46],"orientation":[48],"tracking.":[49],"Additionally,":[50],"approach":[52,98],"is":[53],"transformed":[54],"standardized":[57],"quadratic":[58],"programming":[59],"(QP)":[60],"problem,":[61],"with":[62,94],"global":[64],"optimum":[65],"sought":[66],"using":[67],"UDA":[69],"solver.":[70],"Moreover,":[71],"simulations":[72],"the":[75,85,90],"Franka":[76],"Emika":[77],"Panda":[78],"manipulator":[79],"MATLAB":[81],"and":[82,87,104],"CoppeliaSim":[83],"validate":[84],"feasibility":[86],"flexibility":[88],"of":[89],"proposed":[91],"scheme.":[92],"Compared":[93],"existing":[95],"schemes,":[96],"demonstrates":[99],"superior":[100],"capabilities":[101],"balancing":[103],"optimizing":[105],"multiple":[106],"metrics.":[108]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}