{"id":"https://openalex.org/W4383109149","doi":"https://doi.org/10.1109/icra48891.2023.10161432","title":"Support Generation for Robot-Assisted 3D Printing with Curved Layers","display_name":"Support Generation for Robot-Assisted 3D Printing with Curved Layers","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109149","doi":"https://doi.org/10.1109/icra48891.2023.10161432"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100425874","display_name":"Tianyu Zhang","orcid":"https://orcid.org/0009-0007-3152-8341"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Tianyu Zhang","raw_affiliation_strings":["University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester"],"affiliations":[{"raw_affiliation_string":"University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","institution_ids":["https://openalex.org/I28407311"]},{"raw_affiliation_string":"Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101487115","display_name":"Yuming Huang","orcid":"https://orcid.org/0000-0002-1617-8570"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yuming Huang","raw_affiliation_strings":["University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester"],"affiliations":[{"raw_affiliation_string":"University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","institution_ids":["https://openalex.org/I28407311"]},{"raw_affiliation_string":"Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015441922","display_name":"Piotr Kukulski","orcid":"https://orcid.org/0000-0003-1373-0398"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Piotr Kukulski","raw_affiliation_strings":["University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester"],"affiliations":[{"raw_affiliation_string":"University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","institution_ids":["https://openalex.org/I28407311"]},{"raw_affiliation_string":"Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027759970","display_name":"Neelotpal Dutta","orcid":"https://orcid.org/0000-0001-9417-7306"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Neelotpal Dutta","raw_affiliation_strings":["University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester"],"affiliations":[{"raw_affiliation_string":"University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","institution_ids":["https://openalex.org/I28407311"]},{"raw_affiliation_string":"Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029504493","display_name":"Guoxin Fang","orcid":"https://orcid.org/0000-0001-8741-3227"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guoxin Fang","raw_affiliation_strings":["University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester"],"affiliations":[{"raw_affiliation_string":"University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","institution_ids":["https://openalex.org/I28407311"]},{"raw_affiliation_string":"Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032878278","display_name":"Charlie C. L. Wang","orcid":"https://orcid.org/0000-0003-4406-8480"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Charlie C.L. Wang","raw_affiliation_strings":["University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester"],"affiliations":[{"raw_affiliation_string":"University of Manchester,Department of Mechanical, Aerospace and Civil Engineering,Manchester","institution_ids":["https://openalex.org/I28407311"]},{"raw_affiliation_string":"Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100425874"],"corresponding_institution_ids":["https://openalex.org/I28407311"],"apc_list":null,"apc_paid":null,"fwci":0.5456,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.64180464,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"12338","last_page":"12344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/robustness","display_name":"Robustness (evolution)","score":0.7167861461639404},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.7116716504096985},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6469127535820007},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6017740964889526},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5985463857650757},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.47681325674057007},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.44975724816322327},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4349879026412964},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.3565436005592346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2817627191543579},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.2045603096485138},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19788429141044617},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09162551164627075},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08384519815444946}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7167861461639404},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.7116716504096985},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6469127535820007},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6017740964889526},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5985463857650757},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.47681325674057007},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.44975724816322327},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4349879026412964},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.3565436005592346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2817627191543579},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2045603096485138},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19788429141044617},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09162551164627075},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08384519815444946},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra48891.2023.10161432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/3e86b820-7201-47de-b0e7-54bb40f5b47f","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/3e86b820-7201-47de-b0e7-54bb40f5b47f","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zhang, T, Huang, Y, Kukulski, P, Dutta, N, Fang, G & Wang, C C L 2023, Support Generation for Robot-Assisted 3D Printing with Curved Layers. in Proceedings - ICRA 2023 : IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 2023-May, IEEE, pp. 12338-12344, 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, London, United Kingdom, 29/05/23. https://doi.org/10.1109/ICRA48891.2023.10161432","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.atira.dk:publications/3e86b820-7201-47de-b0e7-54bb40f5b47f","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85168682095&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zhang, T, Huang, Y, Kukulski, P, Dutta, N, Fang, G & Wang, C C L 2023, Support Generation for Robot-Assisted 3D Printing with Curved Layers. in Proceedings - ICRA 2023 : IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 2023-May, IEEE, pp. 12338-12344, 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, London, United Kingdom, 29/05/23. https://doi.org/10.1109/ICRA48891.2023.10161432","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320291","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1631407216","https://openalex.org/W1980468697","https://openalex.org/W2053206314","https://openalex.org/W2069692251","https://openalex.org/W2113997045","https://openalex.org/W2148036799","https://openalex.org/W2162349406","https://openalex.org/W2505623161","https://openalex.org/W2507177902","https://openalex.org/W2513355453","https://openalex.org/W2614049995","https://openalex.org/W2736757493","https://openalex.org/W2810733959","https://openalex.org/W2907054614","https://openalex.org/W2946421367","https://openalex.org/W2957764147","https://openalex.org/W2982925393","https://openalex.org/W2994829670","https://openalex.org/W3045100615","https://openalex.org/W3108733701","https://openalex.org/W3116386642","https://openalex.org/W3119796950","https://openalex.org/W3127569765","https://openalex.org/W3165088730","https://openalex.org/W3180617913","https://openalex.org/W3183729660","https://openalex.org/W6636716297"],"related_works":["https://openalex.org/W4280652955","https://openalex.org/W2954638906","https://openalex.org/W2988789574","https://openalex.org/W2010009304","https://openalex.org/W2770593030","https://openalex.org/W2601594414","https://openalex.org/W3021694725","https://openalex.org/W3154990682","https://openalex.org/W2560201613","https://openalex.org/W2022959950"],"abstract_inverted_index":{"Robot-assisted":[0],"3D":[1,65],"printing":[2,32,66,99],"has":[3],"drawn":[4],"a":[5,30,58,97,104,108,123],"lot":[6],"of":[7,47,82,91,103,125],"attention":[8],"by":[9],"its":[10],"capability":[11],"to":[12,20,121],"fabricate":[13,122],"curved":[14,42,68],"layers":[15,36,43],"that":[16,79,101],"are":[17],"optimized":[18],"according":[19],"different":[21],"objectives.":[22],"However,":[23],"the":[24,45,80],"support":[25,60,71],"generation":[26,61],"algorithm":[27,93],"based":[28],"on":[29,96,118],"fixed":[31],"direction":[33],"for":[34,41,63],"planar":[35],"cannot":[37],"be":[38,86],"directly":[39],"applied":[40],"as":[44,74],"orientation":[46],"material":[48],"accumulation":[49],"is":[50,72,94],"dynamically":[51],"varied.":[52],"In":[53],"this":[54],"paper,":[55],"we":[56],"propose":[57],"skeleton-based":[59],"method":[62],"robot-assisted":[64],"with":[67],"layers.":[69],"The":[70,89],"represented":[73],"an":[75],"implicit":[76],"solid":[77],"so":[78],"problems":[81],"numerical":[83],"robustness":[84],"can":[85],"effectively":[87],"avoided.":[88],"effectiveness":[90],"our":[92,119],"verified":[95],"dual-material":[98,111],"platform":[100],"consists":[102],"robotic":[105],"arm":[106],"and":[107],"newly":[109],"designed":[110],"extruder.":[112],"Experiments":[113],"have":[114],"been":[115],"successfully":[116],"conducted":[117],"system":[120],"variety":[124],"freeform":[126],"models.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-19T08:26:33.389920","created_date":"2025-10-10T00:00:00"}