{"id":"https://openalex.org/W1963959642","doi":"https://doi.org/10.1109/icmech.2013.6518546","title":"Design and implementation of a Kalman state estimator for balancing of uniaxial vehicles for goods transport","display_name":"Design and implementation of a Kalman state estimator for balancing of uniaxial vehicles for goods transport","publication_year":2013,"publication_date":"2013-02-01","ids":{"openalex":"https://openalex.org/W1963959642","doi":"https://doi.org/10.1109/icmech.2013.6518546","mag":"1963959642"},"language":"en","primary_location":{"id":"doi:10.1109/icmech.2013.6518546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2013.6518546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Mechatronics (ICM)","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/A5071632166","display_name":"Matthias Br\u00fcning","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148503","display_name":"Fraunhofer Institute for Production Systems and Design Technology","ror":"https://ror.org/045eg9c12","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210148503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Matthias Bruning","raw_affiliation_strings":["Fraunhofer Institute for Production Systems and Design Technology IPK, 10587 Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Production Systems and Design Technology IPK, 10587 Berlin, Germany","institution_ids":["https://openalex.org/I4210148503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060468053","display_name":"Fabian Heinemann","orcid":"https://orcid.org/0000-0002-9710-7351"},"institutions":[{"id":"https://openalex.org/I4210148503","display_name":"Fraunhofer Institute for Production Systems and Design Technology","ror":"https://ror.org/045eg9c12","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210148503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Fabian Heinemann","raw_affiliation_strings":["Fraunhofer Institute for Production Systems and Design Technology IPK, 10587 Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Production Systems and Design Technology IPK, 10587 Berlin, Germany","institution_ids":["https://openalex.org/I4210148503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056907495","display_name":"Werner Sch\u00f6newolf","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148503","display_name":"Fraunhofer Institute for Production Systems and Design Technology","ror":"https://ror.org/045eg9c12","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210148503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Werner Schonewolf","raw_affiliation_strings":["Fraunhofer Institute for Production Systems and Design Technology IPK, 10587 Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Production Systems and Design Technology IPK, 10587 Berlin, Germany","institution_ids":["https://openalex.org/I4210148503"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065074078","display_name":"J\u00f6rg Kr\u00fcger","orcid":"https://orcid.org/0000-0001-5138-0793"},"institutions":[{"id":"https://openalex.org/I4210148503","display_name":"Fraunhofer Institute for Production Systems and Design Technology","ror":"https://ror.org/045eg9c12","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210148503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jorg Kruger","raw_affiliation_strings":["Fraunhofer Institute for Production Systems and Design Technology IPK, 10587 Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Production Systems and Design Technology IPK, 10587 Berlin, Germany","institution_ids":["https://openalex.org/I4210148503"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071632166"],"corresponding_institution_ids":["https://openalex.org/I4210148503"],"apc_list":null,"apc_paid":null,"fwci":1.6908,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.79371955,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"260","last_page":"266"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14082","display_name":"Modeling, Simulation, and Optimization","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2607","display_name":"Discrete Mathematics and Combinatorics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T14082","display_name":"Modeling, Simulation, and Optimization","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2607","display_name":"Discrete Mathematics and Combinatorics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9904000163078308,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9718000292778015,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/payload","display_name":"Payload (computing)","score":0.6759977340698242},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.572950541973114},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5654667615890503},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5534574389457703},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49401551485061646},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.48414379358291626},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.44704440236091614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40714555978775024},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.39003831148147583},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34039485454559326},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32833170890808105},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28042757511138916},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13762477040290833},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11491650342941284}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6759977340698242},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.572950541973114},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5654667615890503},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5534574389457703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49401551485061646},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.48414379358291626},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.44704440236091614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40714555978775024},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.39003831148147583},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34039485454559326},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32833170890808105},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28042757511138916},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13762477040290833},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11491650342941284},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icmech.2013.6518546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2013.6518546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/380535","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/380535","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W616892495","https://openalex.org/W1668450857","https://openalex.org/W1963754511","https://openalex.org/W1976753356","https://openalex.org/W2018879313","https://openalex.org/W2041456984","https://openalex.org/W2049168360","https://openalex.org/W2060902679","https://openalex.org/W2101554531","https://openalex.org/W2120499270","https://openalex.org/W2126937267","https://openalex.org/W2145938889","https://openalex.org/W2167502291","https://openalex.org/W2315933648","https://openalex.org/W2342369618"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W1517019597","https://openalex.org/W1968776045","https://openalex.org/W2296713838","https://openalex.org/W767149399","https://openalex.org/W3036261569","https://openalex.org/W2889950528","https://openalex.org/W575062473","https://openalex.org/W306312984","https://openalex.org/W4297672583"],"abstract_inverted_index":{"Uniaxial":[0],"vehicles":[1,33,109],"for":[2,52,59,79,113,125,153,170,188,198,210],"goods":[3],"transport":[4,38],"such":[5,22,86],"as":[6,23],"hand":[7],"trucks":[8],"offer":[9],"intuitive":[10,212],"manoeuvrability":[11],"with":[12,36,72,97],"little":[13],"space":[14],"requirements":[15],"and":[16,25,61,82,130,162,209],"the":[17,50,53,57,69,89,128,146,154,177,181,192],"ability":[18],"to":[19,55,67,107],"overcome":[20],"obstacles":[21],"steps":[24],"kerbs.":[26],"This":[27,102],"is":[28,34,49,66,103,139],"why":[29],"this":[30,43,117,202],"class":[31],"of":[32,42,47,100,127,134,180,194,201,204],"popular":[35],"many":[37],"tasks.":[39],"The":[40,158,173,183],"disadvantage":[41],"pedestrian":[44],"controlled":[45,74],"means":[46],"transportation":[48],"need":[51],"user":[54],"apply":[56],"force":[58,78],"stabilisation":[60,81],"propulsion.":[62,83],"A":[63],"solution":[64],"approach":[65],"equip":[68],"uniaxial":[70,108,167],"vehicle":[71,90,147,168,205],"a":[73,104,121,186],"drive":[75],"system":[76,169],"providing":[77],"both":[80,197],"To":[84],"realise":[85],"balance":[87,156],"control":[88,195],"frame's":[91,129],"pitch":[92,136],"angle":[93],"must":[94,150],"be":[95,151],"adopted":[96],"every":[98],"change":[99],"load.":[101],"fundamental":[105],"difference":[106],"without":[110],"payload":[111],"or":[112],"passenger":[114],"transportation.":[115],"In":[116],"paper":[118],"we":[119],"present":[120],"Kalman":[122],"state":[123],"estimator":[124,159,184],"identification":[126],"load's":[131],"combined":[132],"center":[133],"gravity's":[135],"angle.":[137],"It":[138],"not":[140],"measureable":[141],"using":[142,164],"sensors":[143],"installed":[144],"on":[145,216],"frame":[148],"but":[149],"known":[152],"vehicle's":[155],"control.":[157],"was":[160],"designed":[161],"implemented":[163],"our":[165],"new":[166],"freight":[171],"transport.":[172],"experimental":[174],"results":[175],"show":[176],"correct":[178],"operation":[179,200],"approach.":[182],"provides":[185],"basis":[187],"further":[189],"research":[190],"in":[191],"field":[193],"strategies":[196],"stable":[199],"type":[203],"under":[206],"real-life":[207],"conditions":[208],"its":[211],"manual":[213],"guidance":[214],"based":[215],"low":[217],"interaction":[218],"forces.":[219]},"counts_by_year":[{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
