{"id":"https://openalex.org/W2164477938","doi":"https://doi.org/10.1109/iros.2007.4398957","title":"F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot","display_name":"F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2164477938","doi":"https://doi.org/10.1109/iros.2007.4398957","mag":"2164477938"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4398957","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4398957","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5075217366","display_name":"W. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"W. Wang","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058002038","display_name":"H. X. Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. X. Zhang","raw_affiliation_strings":["Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015583273","display_name":"Wei Yu","orcid":"https://orcid.org/0009-0006-8772-1645"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"W. P. Yu","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106695973","display_name":"Guanghua Zong","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"G. H. Zong","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054551788","display_name":"J. W. Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"J. W. Zhang","raw_affiliation_strings":["Cognitive Technology Laboratory, Shenzhen Institute of Advanced Technology, Shenzhen, China","Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Technology Laboratory, Shenzhen Institute of Advanced Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.18798377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"29","issue":null,"first_page":"1242","last_page":"1247"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9951000213623047,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9951000213623047,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9789999723434448,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9731000065803528,"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/control-theory","display_name":"Control theory (sociology)","score":0.7587125301361084},{"id":"https://openalex.org/keywords/bang\u2013bang-control","display_name":"Bang\u2013bang control","score":0.7442773580551147},{"id":"https://openalex.org/keywords/piston","display_name":"Piston (optics)","score":0.7054083943367004},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.6880714893341064},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5992249846458435},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5033745169639587},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49033308029174805},{"id":"https://openalex.org/keywords/pneumatic-cylinder","display_name":"Pneumatic cylinder","score":0.4720034599304199},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4560759365558624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42512714862823486},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.42273151874542236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33256691694259644},{"id":"https://openalex.org/keywords/cylinder","display_name":"Cylinder","score":0.3004911541938782},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2428167164325714},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21754604578018188},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17897817492485046},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.16796612739562988},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12859317660331726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1263372004032135}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7587125301361084},{"id":"https://openalex.org/C175287345","wikidata":"https://www.wikidata.org/wiki/Q1432859","display_name":"Bang\u2013bang control","level":3,"score":0.7442773580551147},{"id":"https://openalex.org/C199524791","wikidata":"https://www.wikidata.org/wiki/Q7198512","display_name":"Piston (optics)","level":3,"score":0.7054083943367004},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.6880714893341064},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5992249846458435},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5033745169639587},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49033308029174805},{"id":"https://openalex.org/C109217959","wikidata":"https://www.wikidata.org/wiki/Q4567087","display_name":"Pneumatic cylinder","level":3,"score":0.4720034599304199},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4560759365558624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42512714862823486},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.42273151874542236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33256691694259644},{"id":"https://openalex.org/C203311528","wikidata":"https://www.wikidata.org/wiki/Q34132","display_name":"Cylinder","level":2,"score":0.3004911541938782},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2428167164325714},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21754604578018188},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17897817492485046},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.16796612739562988},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12859317660331726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1263372004032135},{"id":"https://openalex.org/C165699331","wikidata":"https://www.wikidata.org/wiki/Q461533","display_name":"Wavefront","level":2,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4398957","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4398957","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":12,"referenced_works":["https://openalex.org/W1910584717","https://openalex.org/W2026027171","https://openalex.org/W2037307877","https://openalex.org/W2140110637","https://openalex.org/W2157723668","https://openalex.org/W2164930643","https://openalex.org/W2169501349","https://openalex.org/W2334639969","https://openalex.org/W2513719848","https://openalex.org/W2544258806","https://openalex.org/W4255372135","https://openalex.org/W6729435695"],"related_works":["https://openalex.org/W4293229002","https://openalex.org/W3210349652","https://openalex.org/W2103375694","https://openalex.org/W1981494116","https://openalex.org/W2299309292","https://openalex.org/W2090884093","https://openalex.org/W2076029128","https://openalex.org/W2375726860","https://openalex.org/W2039176415","https://openalex.org/W2185159617"],"abstract_inverted_index":{"To":[0,61,96],"overcome":[1],"the":[2,7,13,30,42,56,63,83,89,92,98,101,105,137],"overshoot":[3],"and":[4,76],"oscillation":[5],"in":[6,12,55],"normal":[8],"Bang-Bang":[9,26],"controller":[10],"applied":[11],"pneumatic":[14,31,114],"driving":[15,38],"glass-wall":[16,115],"cleaning":[17,116],"robot,":[18],"this":[19],"paper":[20],"presents":[21],"a":[22,35,50,113,124,129],"F&A":[23],"compensating":[24,53],"variable":[25],"control":[27,43,102],"algorithm":[28,44],"for":[29],"position":[32,94,133],"servo.":[33],"Besides":[34],"new":[36],"cylinder":[37],"plan":[39],"is":[40,45,121],"designed,":[41],"also":[46],"improved":[47],"by":[48],"adding":[49],"fiction":[51],"force":[52,58],"item":[54],"chamber":[57],"evaluation":[59],"equation.":[60],"adjust":[62],"controlling":[64],"parameters":[65],"dynamically,":[66],"certain":[67],"increasing":[68],"functions,":[69],"such":[70],"as":[71,123],"step":[72],"function,":[73,78],"linear":[74],"function":[75],"arc-tangent":[77],"are":[79,142],"used":[80,122],"to":[81,127],"define":[82],"piston's":[84,93],"expectative":[85,108],"acceleration":[86,109],"along":[87],"with":[88,104],"reduction":[90],"of":[91,100,131,140],"error.":[95],"testify":[97],"feasibility":[99],"algorithms":[103],"above":[106],"three":[107],"setting":[110],"functions":[111],"respectively,":[112],"robot":[117],"\"Sky":[118],"Cleaner":[119],"4\"":[120],"testing":[125],"platform":[126],"implement":[128],"series":[130],"on-load":[132],"servo":[134],"experiments.":[135],"And":[136],"different":[138],"results":[139],"them":[141],"compared.":[143]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}