{"id":"https://openalex.org/W4401416118","doi":"https://doi.org/10.1109/icra57147.2024.10611706","title":"Facile Integration of Robots into Experimental Orchestration at Scientific User Facilities","display_name":"Facile Integration of Robots into Experimental Orchestration at Scientific User Facilities","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416118","doi":"https://doi.org/10.1109/icra57147.2024.10611706"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611706","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.osti.gov/biblio/2549229","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101043341","display_name":"Chandima Fernando","orcid":null},"institutions":[{"id":"https://openalex.org/I4387155430","display_name":"National Synchrotron Light Source II","ror":"https://ror.org/01q47ea17","country_code":null,"type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I200870766","https://openalex.org/I39565521","https://openalex.org/I4210142672","https://openalex.org/I4387155430"]},{"id":"https://openalex.org/I200870766","display_name":"Brookhaven National Laboratory","ror":"https://ror.org/02ex6cf31","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I200870766","https://openalex.org/I39565521","https://openalex.org/I4210142672"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chandima Fernando","raw_affiliation_strings":["Brookhaven National Laboratory,National Synchrotron Light Source II,Upton,NY,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brookhaven National Laboratory,National Synchrotron Light Source II,Upton,NY,USA","institution_ids":["https://openalex.org/I200870766","https://openalex.org/I4387155430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075015217","display_name":"Daniel Olds","orcid":"https://orcid.org/0000-0002-4611-4113"},"institutions":[{"id":"https://openalex.org/I4387155430","display_name":"National Synchrotron Light Source II","ror":"https://ror.org/01q47ea17","country_code":null,"type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I200870766","https://openalex.org/I39565521","https://openalex.org/I4210142672","https://openalex.org/I4387155430"]},{"id":"https://openalex.org/I200870766","display_name":"Brookhaven National Laboratory","ror":"https://ror.org/02ex6cf31","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I200870766","https://openalex.org/I39565521","https://openalex.org/I4210142672"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Olds","raw_affiliation_strings":["Brookhaven National Laboratory,National Synchrotron Light Source II,Upton,NY,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brookhaven National Laboratory,National Synchrotron Light Source II,Upton,NY,USA","institution_ids":["https://openalex.org/I200870766","https://openalex.org/I4387155430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007255618","display_name":"Stuart I. Campbell","orcid":"https://orcid.org/0000-0001-7079-0878"},"institutions":[{"id":"https://openalex.org/I200870766","display_name":"Brookhaven National Laboratory","ror":"https://ror.org/02ex6cf31","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I200870766","https://openalex.org/I39565521","https://openalex.org/I4210142672"]},{"id":"https://openalex.org/I4387155430","display_name":"National Synchrotron Light Source II","ror":"https://ror.org/01q47ea17","country_code":null,"type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I200870766","https://openalex.org/I39565521","https://openalex.org/I4210142672","https://openalex.org/I4387155430"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stuart I. Campbell","raw_affiliation_strings":["Brookhaven National Laboratory,National Synchrotron Light Source II,Upton,NY,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brookhaven National Laboratory,National Synchrotron Light Source II,Upton,NY,USA","institution_ids":["https://openalex.org/I200870766","https://openalex.org/I4387155430"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065387835","display_name":"Phillip M. Maffettone","orcid":"https://orcid.org/0000-0001-7173-7972"},"institutions":[{"id":"https://openalex.org/I200870766","display_name":"Brookhaven National Laboratory","ror":"https://ror.org/02ex6cf31","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I200870766","https://openalex.org/I39565521","https://openalex.org/I4210142672"]},{"id":"https://openalex.org/I4387155430","display_name":"National Synchrotron Light Source II","ror":"https://ror.org/01q47ea17","country_code":null,"type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I200870766","https://openalex.org/I39565521","https://openalex.org/I4210142672","https://openalex.org/I4387155430"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Phillip M. Maffettone","raw_affiliation_strings":["Brookhaven National Laboratory,National Synchrotron Light Source II,Upton,NY,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brookhaven National Laboratory,National Synchrotron Light Source II,Upton,NY,USA","institution_ids":["https://openalex.org/I200870766","https://openalex.org/I4387155430"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101043341"],"corresponding_institution_ids":["https://openalex.org/I200870766","https://openalex.org/I4387155430"],"apc_list":null,"apc_paid":null,"fwci":0.1962,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.45547494,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"9578","last_page":"9584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.994700014591217,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.994700014591217,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9807000160217285,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9722999930381775,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/orchestration","display_name":"Orchestration","score":0.904779314994812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.669761061668396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5801488161087036},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4935206174850464},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.37638628482818604},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3247308135032654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2011309564113617},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.170480877161026}],"concepts":[{"id":"https://openalex.org/C199168358","wikidata":"https://www.wikidata.org/wiki/Q3367000","display_name":"Orchestration","level":3,"score":0.904779314994812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.669761061668396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5801488161087036},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4935206174850464},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.37638628482818604},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3247308135032654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2011309564113617},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.170480877161026},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10611706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611706","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:osti.gov:2549229","is_oa":true,"landing_page_url":"https://www.osti.gov/biblio/2549229","pdf_url":null,"source":{"id":"https://openalex.org/S4306402487","display_name":"OSTI OAI (U.S. Department of Energy Office of Scientific and Technical Information)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139351228","host_organization_name":"Office of Scientific and Technical Information","host_organization_lineage":["https://openalex.org/I139351228"],"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":null}],"best_oa_location":{"id":"pmh:oai:osti.gov:2549229","is_oa":true,"landing_page_url":"https://www.osti.gov/biblio/2549229","pdf_url":null,"source":{"id":"https://openalex.org/S4306402487","display_name":"OSTI OAI (U.S. Department of Energy Office of Scientific and Technical Information)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139351228","host_organization_name":"Office of Scientific and Technical Information","host_organization_lineage":["https://openalex.org/I139351228"],"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":null},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1285306620","display_name":null,"funder_award_id":"SC0012704","funder_id":"https://openalex.org/F4320338289","funder_display_name":"Brookhaven National Laboratory"},{"id":"https://openalex.org/G1868695577","display_name":null,"funder_award_id":"No. DE-SC0012704","funder_id":"https://openalex.org/F4320338289","funder_display_name":"Brookhaven National Laboratory"},{"id":"https://openalex.org/G3261772687","display_name":null,"funder_award_id":"23-039","funder_id":"https://openalex.org/F4320338289","funder_display_name":"Brookhaven National Laboratory"},{"id":"https://openalex.org/G3850097093","display_name":null,"funder_award_id":"No. DE-SC0012704","funder_id":"https://openalex.org/F4320332359","funder_display_name":"Office of Science"},{"id":"https://openalex.org/G4537279031","display_name":null,"funder_award_id":"28-ID-1","funder_id":"https://openalex.org/F4320337547","funder_display_name":"Laboratory Directed Research and Development"},{"id":"https://openalex.org/G4920325777","display_name":null,"funder_award_id":"DE-SC0012704","funder_id":"https://openalex.org/F4320337547","funder_display_name":"Laboratory Directed Research and Development"},{"id":"https://openalex.org/G5417557083","display_name":null,"funder_award_id":"Contract No. DE-SC0012704","funder_id":"https://openalex.org/F4320338289","funder_display_name":"Brookhaven National Laboratory"},{"id":"https://openalex.org/G5443159500","display_name":null,"funder_award_id":"DE-SC0012704","funder_id":"https://openalex.org/F4320338289","funder_display_name":"Brookhaven National Laboratory"},{"id":"https://openalex.org/G5633341255","display_name":null,"funder_award_id":"No. DE-SC0012704","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G6357584807","display_name":null,"funder_award_id":"SC0012704","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G6394684448","display_name":null,"funder_award_id":"23-039","funder_id":"https://openalex.org/F4320337547","funder_display_name":"Laboratory Directed Research and Development"},{"id":"https://openalex.org/G6733788163","display_name":null,"funder_award_id":"Contract No. DE-SC0012704","funder_id":"https://openalex.org/F4320332359","funder_display_name":"Office of Science"},{"id":"https://openalex.org/G7463374569","display_name":null,"funder_award_id":"SC0012704","funder_id":"https://openalex.org/F4320332359","funder_display_name":"Office of Science"},{"id":"https://openalex.org/G7957492830","display_name":null,"funder_award_id":"Contract No. DE-SC0012704","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"}],"funders":[{"id":"https://openalex.org/F4320306084","display_name":"U.S. Department of Energy","ror":"https://ror.org/01bj3aw27"},{"id":"https://openalex.org/F4320332359","display_name":"Office of Science","ror":"https://ror.org/00mmn6b08"},{"id":"https://openalex.org/F4320337547","display_name":"Laboratory Directed Research and Development","ror":"https://ror.org/01e41cf67"},{"id":"https://openalex.org/F4320338289","display_name":"Brookhaven National Laboratory","ror":"https://ror.org/02ex6cf31"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2111902487","https://openalex.org/W2529170537","https://openalex.org/W2804581793","https://openalex.org/W2946643424","https://openalex.org/W2967100581","https://openalex.org/W2976857907","https://openalex.org/W2997371877","https://openalex.org/W3024236153","https://openalex.org/W3036330941","https://openalex.org/W3042021489","https://openalex.org/W3110324412","https://openalex.org/W3129746225","https://openalex.org/W3196144896","https://openalex.org/W3198229735","https://openalex.org/W4283451728","https://openalex.org/W4285102439","https://openalex.org/W4296078273","https://openalex.org/W4312155281","https://openalex.org/W4313134560","https://openalex.org/W4352976973","https://openalex.org/W4385984522","https://openalex.org/W4387045879","https://openalex.org/W4387680284","https://openalex.org/W4388453243","https://openalex.org/W6846820910"],"related_works":["https://openalex.org/W79913212","https://openalex.org/W2094884983","https://openalex.org/W2378898096","https://openalex.org/W560952460","https://openalex.org/W2290927522","https://openalex.org/W4283579741","https://openalex.org/W3066706303","https://openalex.org/W876159576","https://openalex.org/W2943612818","https://openalex.org/W2621143560"],"abstract_inverted_index":{"Integration":[0],"of":[1,82],"robots":[2],"into":[3],"scientific":[4,122],"user":[5,85,123],"facilities,":[6],"such":[7,21],"as":[8],"the":[9,24,63,79,113],"National":[10],"Synchrotron":[11],"Light":[12],"Source":[13],"II,":[14],"improves":[15],"their":[16],"efficiency":[17],"and":[18,31,50,69,98],"capacity.":[19],"Many":[20],"facilities":[22,45,124],"use":[23],"opensource":[25],"Bluesky":[26,70],"project":[27],"for":[28,115],"experimental":[29],"control":[30],"orchestration.":[32],"However,":[33],"there":[34],"remains":[35],"an":[36],"open":[37],"challenge":[38],"in":[39],"deploying":[40],"robotic":[41,74,94],"solutions":[42],"at":[43,103,120],"these":[44],"that":[46,61,125],"are":[47],"reconfigurable,":[48],"extensible,":[49],"compatible":[51],"with":[52],"pre-existing":[53],"software":[54],"infrastructure.":[55],"Herein,":[56],"we":[57],"introduce":[58],"a":[59,83,93,100,104,107],"framework":[60,90],"uses":[62],"Robotic":[64],"Operating":[65],"System":[66],"2":[67],"(ROS2)":[68],"to":[71,96],"provide":[72],"extensible":[73],"applications,":[75],"while":[76],"working":[77],"under":[78],"operational":[80],"constraints":[81],"large-scale":[84,121],"facility.":[86],"We":[87],"demonstrated":[88],"this":[89],"by":[91],"integrating":[92],"arm":[95],"pick":[97],"place":[99],"sample":[101],"holder":[102],"beamline,":[105],"recording":[106],"90%":[108],"repeatability":[109],"rate.":[110],"This":[111],"provides":[112],"groundwork":[114],"further":[116],"new":[117],"robotics":[118],"applications":[119],"depend":[126],"on":[127],"Bluesky.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-14T08:36:36.166977","created_date":"2025-10-10T00:00:00"}