{"id":"https://openalex.org/W4413925433","doi":"https://doi.org/10.1109/icra55743.2025.11127469","title":"Autonomous Sensor Exchange and Calibration for Cornstalk Nitrate Monitoring Robot","display_name":"Autonomous Sensor Exchange and Calibration for Cornstalk Nitrate Monitoring Robot","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925433","doi":"https://doi.org/10.1109/icra55743.2025.11127469"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5017105715","display_name":"Janice Seungyeon Lee","orcid":"https://orcid.org/0009-0002-2903-8048"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Janice Seungyeon Lee","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114730098","display_name":"Thomas Detlefsen","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Detlefsen","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114730099","display_name":"Shara Lawande","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shara Lawande","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114730100","display_name":"Saudamini Ghatge","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Saudamini Ghatge","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101884113","display_name":"S. Shanthi","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shrudhi Ramesh Shanthi","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114730101","display_name":"Sruthi Mukkamala","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sruthi Mukkamala","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067346459","display_name":"George Kantor","orcid":"https://orcid.org/0000-0001-7088-8533"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Kantor","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005091065","display_name":"Oliver Kroemer","orcid":"https://orcid.org/0000-0003-2007-3867"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oliver Kroemer","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16803","last_page":"16809"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11667","display_name":"Advanced Chemical Sensor Technologies","score":0.8382999897003174,"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/T11667","display_name":"Advanced Chemical Sensor Technologies","score":0.8382999897003174,"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/T14249","display_name":"Water Quality Monitoring and Analysis","score":0.8319000005722046,"subfield":{"id":"https://openalex.org/subfields/2311","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7108327746391296},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6229701638221741},{"id":"https://openalex.org/keywords/nitrate","display_name":"Nitrate","score":0.4753957688808441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4719737470149994},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.4687008559703827},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4000876545906067},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33558663725852966},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19586476683616638},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.18903860449790955},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.11483484506607056},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09370777010917664},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06923618912696838}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7108327746391296},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6229701638221741},{"id":"https://openalex.org/C2776384668","wikidata":"https://www.wikidata.org/wiki/Q182168","display_name":"Nitrate","level":2,"score":0.4753957688808441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4719737470149994},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.4687008559703827},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4000876545906067},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33558663725852966},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19586476683616638},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.18903860449790955},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.11483484506607056},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09370777010917664},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06923618912696838},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1638097848","https://openalex.org/W1971018224","https://openalex.org/W2019168270","https://openalex.org/W2019917126","https://openalex.org/W2038910609","https://openalex.org/W2295187240","https://openalex.org/W2518417964","https://openalex.org/W2574543018","https://openalex.org/W2580165383","https://openalex.org/W2736689758","https://openalex.org/W2810883421","https://openalex.org/W2904985412","https://openalex.org/W2909559431","https://openalex.org/W2964224527","https://openalex.org/W2971480543","https://openalex.org/W3001576209","https://openalex.org/W3023078864","https://openalex.org/W3038216440","https://openalex.org/W3048356206","https://openalex.org/W3112670819","https://openalex.org/W3125119245","https://openalex.org/W3151018625","https://openalex.org/W3176397544","https://openalex.org/W4281692404","https://openalex.org/W4284690797","https://openalex.org/W4285412736","https://openalex.org/W4387429503","https://openalex.org/W4390874575","https://openalex.org/W4394564220","https://openalex.org/W4400058707"],"related_works":["https://openalex.org/W2554448166","https://openalex.org/W2422268761","https://openalex.org/W2001030372","https://openalex.org/W1996570171","https://openalex.org/W1988023444","https://openalex.org/W2793727105","https://openalex.org/W2312745860","https://openalex.org/W1998858419","https://openalex.org/W2377014924","https://openalex.org/W2040630956"],"abstract_inverted_index":{"Interactive":[0],"sensors":[1,109],"are":[2],"an":[3,32,40,78],"important":[4],"component":[5],"of":[6],"robotic":[7],"systems":[8],"but":[9],"often":[10],"require":[11],"manual":[12],"replacement":[13,56],"due":[14],"to":[15,65,85],"wear":[16],"and":[17,26,36,55,68,90],"tear.":[18],"Automating":[19],"this":[20],"process":[21],"can":[22],"enhance":[23],"system":[24,38,93],"autonomy":[25],"facilitate":[27],"long-term":[28],"deployment.":[29],"We":[30],"developed":[31,64],"autonomous":[33],"sensor":[34,49,70,76,80,88],"exchange":[35],"calibration":[37,81],"for":[39],"agriculture":[41],"crop":[42],"monitoring":[43],"robot":[44],"that":[45],"inserts":[46],"a":[47,59,120],"nitrate":[48,75,108],"into":[50,113],"cornstalks.":[51],"A":[52],"novel":[53],"gripper":[54],"mechanism,":[57],"featuring":[58],"reliable":[60,69],"funneling":[61],"design,":[62],"were":[63],"enable":[66],"efficient":[67],"exchanges.":[71],"To":[72],"maintain":[73],"consistent":[74],"measurement,":[77],"on-board":[79],"station":[82],"was":[83,94],"integrated":[84],"provide":[86],"in-field":[87],"cleaning":[89],"calibration.":[91],"The":[92],"deployed":[95],"at":[96],"the":[97],"Ames":[98],"Curtis":[99],"Farm":[100],"in":[101],"June":[102],"2024,":[103],"where":[104],"it":[105],"successfully":[106],"inserted":[107],"with":[110,119],"high":[111],"accuracy":[112],"<tex":[114,121],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[115,122],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\mathbf{3":[116],"0}$</tex>":[117],"cornstalks":[118],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\mathbf{7":[123],"7}":[124],"{\\%}$</tex>":[125],"success":[126],"rate.":[127]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}