{"id":"https://openalex.org/W2121644012","doi":"https://doi.org/10.1109/iros.2011.6094573","title":"Optimal control of multi-input SMA actuator arrays using graph theory: Expanding wavefront &amp;amp; simultaneous operations","display_name":"Optimal control of multi-input SMA actuator arrays using graph theory: Expanding wavefront &amp;amp; simultaneous operations","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2121644012","doi":"https://doi.org/10.1109/iros.2011.6094573","mag":"2121644012"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094573","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5030975110","display_name":"Leslie Flemming","orcid":null},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. J. Flemming","raw_affiliation_strings":["Mechanical Engineering, University of Utah, Salt Lake, UT, USA","Mechanical Engineering, University of Utah, Salt Lake City, 84112 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Utah, Salt Lake, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"Mechanical Engineering, University of Utah, Salt Lake City, 84112 USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101586727","display_name":"David E. Johnson","orcid":"https://orcid.org/0000-0001-8793-8736"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. E. Johnson","raw_affiliation_strings":["Mechanical Engineering, University of Utah, Salt Lake, UT, USA","School of Computing, University of Utah, Salt Lake City, USA 84112"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Utah, Salt Lake, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"School of Computing, University of Utah, Salt Lake City, USA 84112","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020470497","display_name":"Stephen A. Mascaro","orcid":"https://orcid.org/0000-0002-0082-4830"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. A. Mascaro","raw_affiliation_strings":["Mechanical Engineering, University of Utah, Salt Lake, UT, USA","Mechanical Engineering, University of Utah, Salt Lake City, 84112 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Utah, Salt Lake, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"Mechanical Engineering, University of Utah, Salt Lake City, 84112 USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I223532165"],"apc_list":null,"apc_paid":null,"fwci":2.8525,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.89298044,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"68","issue":null,"first_page":"780","last_page":"785"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11079","display_name":"Creativity in Education and Neuroscience","score":0.90829998254776,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7979481220245361},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5299127101898193},{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.49314969778060913},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41593778133392334},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4099717140197754},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3836807608604431},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.22856974601745605},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2111390233039856},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19986394047737122},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17604807019233704},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10423040390014648}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7979481220245361},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5299127101898193},{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.49314969778060913},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41593778133392334},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4099717140197754},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3836807608604431},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.22856974601745605},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2111390233039856},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19986394047737122},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17604807019233704},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10423040390014648}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094573","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1579879290","https://openalex.org/W1594060995","https://openalex.org/W1969717963","https://openalex.org/W1973013136","https://openalex.org/W1978181925","https://openalex.org/W1983362322","https://openalex.org/W1990603693","https://openalex.org/W2018288547","https://openalex.org/W2024137005","https://openalex.org/W2061706450","https://openalex.org/W2082142237","https://openalex.org/W2084342552","https://openalex.org/W2113107169","https://openalex.org/W2122410182","https://openalex.org/W2128053879","https://openalex.org/W2132146522","https://openalex.org/W2135620451","https://openalex.org/W2137484496","https://openalex.org/W2143531828","https://openalex.org/W2147608895","https://openalex.org/W2321687154","https://openalex.org/W2540590476","https://openalex.org/W2623293810","https://openalex.org/W4251092341","https://openalex.org/W4393947537","https://openalex.org/W6679860607"],"related_works":["https://openalex.org/W2689884327","https://openalex.org/W2722621396","https://openalex.org/W2033598884","https://openalex.org/W2909273876","https://openalex.org/W1979722432","https://openalex.org/W2724977373","https://openalex.org/W4389232553","https://openalex.org/W1978777029","https://openalex.org/W4390099502","https://openalex.org/W3214589171"],"abstract_inverted_index":{"Shape":[0],"memory":[1],"alloy":[2],"(SMA)":[3],"actuators":[4,24,57,156],"are":[5,25],"compact":[6],"and":[7,20,29,71,99,104,223,269,310,312],"have":[8,44,194],"high":[9],"force-to-weight":[10],"ratios,":[11],"making":[12],"them":[13],"strong":[14],"candidates":[15],"to":[16,53,58,69,77,92,122,139,157,171,176,183,245,304],"actuate":[17],"robots,":[18],"exoskeletons,":[19],"prosthetics.":[21],"However,":[22,147],"these":[23],"thermomechanical":[26],"in":[27,47,85,144,162,174,259,276],"nature":[28],"slow":[30],"cooling":[31],"rates":[32],"can":[33,64,87,215,242],"limit":[34],"their":[35],"performance.":[36],"To":[37,95],"improve":[38],"the":[39,56,73,78,90,97,102,178,208,221,224,228,234,237,280,299,306],"convective":[40],"cooling,":[41],"SMA":[42,91],"wires":[43],"been":[45,112,195],"embedded":[46],"vascular":[48,62,103],"networks":[49],"allowing":[50],"cold":[51],"fluid":[52,68],"pass":[54],"across":[55],"cool/extend":[59],"them.":[60],"The":[61],"network":[63,83],"also":[65],"deliver":[66],"hot":[67],"heat":[70,89],"contract":[72],"wire.":[74],"In":[75,181],"addition":[76],"fluidic":[79],"network,":[80],"an":[81,185,212,247],"electrical":[82,105],"operating":[84,307],"parallel":[86],"resistively":[88],"produce":[93],"contraction.":[94],"minimize":[96,305],"weight":[98],"size":[100],"of":[101,155,166,188,211,220,236,250,283,297,302],"networks,":[106],"a":[107,164,260,284,294],"scalable":[108,295],"N[N":[109],"architecture":[110,149],"has":[111,263],"implemented":[113],"that":[114,262],"allows":[115,136],"for":[116,253,288],"2N":[117],"control":[118,167,189,225,251],"devices":[119],"(valves,":[120],"transistors)":[121],"be":[123,140,158,172,216,243],"shared":[124],"amongst":[125],"N":[126],"<sup":[127,265],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[128,266],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[129],"actuators.":[130],"This":[131],"Network":[132],"Array":[133],"Architecture":[134],"(NAA)":[135],"each":[137,199],"actuator":[138,213],"controlled":[141],"individually":[142],"or":[143,206],"discrete":[145],"subarrays.":[146],"this":[148,277,291],"does":[150],"not":[151],"allow":[152],"all":[153],"combinations":[154],"activated":[159],"simultaneously;":[160],"therefore":[161],"general":[163],"sequence":[165,187],"commands":[168,226,252],"will":[169],"need":[170],"executed":[173],"order":[175,182],"achieve":[177],"complete":[179],"actuation.":[180],"find":[184,246],"optimal":[186,248,300],"commands,":[190],"graph":[191,222,229,238,285],"theory":[192],"algorithms":[193,241],"implemented.":[196],"By":[197,231],"treating":[198],"actuator's":[200],"state":[201,255],"as":[202,218,227],"binary":[203],"(fully":[204],"contracted":[205],"extended),":[207],"collected":[209],"states":[210],"array":[214],"represented":[217],"nodes":[219,268],"edges.":[230],"properly":[232],"weighting":[233],"costs":[235],"edges,":[239],"search":[240,286,314],"used":[244],"set":[249,301],"desired":[254],"changes.":[256],"NAA":[257,289],"results":[258],"multi-graph":[261],"2":[264],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">NA&#151;N</sup>":[267],"is":[270],"highly":[271],"interconnected.":[272],"While":[273],"initial":[274],"work":[275],"area":[278],"established":[279],"basic":[281],"validity":[282],"approach":[287],"control,":[290],"article":[292],"presents":[293],"method":[296],"determining":[298],"controls":[303],"cost":[308],"(time":[309],"energy)":[311],"computational":[313],"cost.":[315]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}