{"id":"https://openalex.org/W2910704556","doi":"https://doi.org/10.1109/iros.2018.8594155","title":"Robotic Boreblending: The Future of In-Situ Gas Turbine Repair","display_name":"Robotic Boreblending: The Future of In-Situ Gas Turbine Repair","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910704556","doi":"https://doi.org/10.1109/iros.2018.8594155","mag":"2910704556"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594155","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://nottingham-repository.worktribe.com/output/2550844","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025192908","display_name":"David Alatorre","orcid":"https://orcid.org/0000-0001-9370-3124"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Alatorre","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085540578","display_name":"Bilal Nasser","orcid":"https://orcid.org/0000-0001-9564-6063"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bilal Nasser","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113377858","display_name":"Amir Rabani","orcid":null},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amir Rabani","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059426609","display_name":"Adam Nagy-Sochacki","orcid":null},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Nagy-Sochacki","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087034933","display_name":"Xin Dong","orcid":"https://orcid.org/0000-0001-9337-9379"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xin Dong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015263836","display_name":"Drago\u015f Axinte","orcid":"https://orcid.org/0000-0002-3595-0933"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dragos Axinte","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5065687314","display_name":"James Kell","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"James Kell","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.446,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.63173747,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1401","last_page":"1406"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9980000257492065,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9980000257492065,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973999857902527,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/downtime","display_name":"Downtime","score":0.7277047038078308},{"id":"https://openalex.org/keywords/aerospace","display_name":"Aerospace","score":0.6183823943138123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.558999240398407},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5531618595123291},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5170960426330566},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49834704399108887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4743436872959137},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4386795163154602},{"id":"https://openalex.org/keywords/gas-compressor","display_name":"Gas compressor","score":0.41252392530441284},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40912720561027527},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34800004959106445},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.34795308113098145},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33822357654571533},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.32584643363952637},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.250130832195282},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.174648255109787}],"concepts":[{"id":"https://openalex.org/C180591934","wikidata":"https://www.wikidata.org/wiki/Q1253369","display_name":"Downtime","level":2,"score":0.7277047038078308},{"id":"https://openalex.org/C167740415","wikidata":"https://www.wikidata.org/wiki/Q2876213","display_name":"Aerospace","level":2,"score":0.6183823943138123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.558999240398407},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5531618595123291},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5170960426330566},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49834704399108887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4743436872959137},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4386795163154602},{"id":"https://openalex.org/C131097465","wikidata":"https://www.wikidata.org/wiki/Q178898","display_name":"Gas compressor","level":2,"score":0.41252392530441284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40912720561027527},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34800004959106445},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.34795308113098145},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33822357654571533},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32584643363952637},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.250130832195282},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.174648255109787},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8594155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594155","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:nottingham-repository.worktribe.com:2550844","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/2550844","pdf_url":null,"source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"}],"best_oa_location":{"id":"pmh:oai:nottingham-repository.worktribe.com:2550844","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/2550844","pdf_url":null,"source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"},"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G5860984749","display_name":null,"funder_award_id":"EP/P027121/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1985568314","https://openalex.org/W2064267416","https://openalex.org/W2067757187","https://openalex.org/W2088235712","https://openalex.org/W2092391367","https://openalex.org/W2097388029","https://openalex.org/W2111866551","https://openalex.org/W2114538074","https://openalex.org/W2116610320","https://openalex.org/W2129644801","https://openalex.org/W2517194533","https://openalex.org/W2527057332"],"related_works":["https://openalex.org/W2046276983","https://openalex.org/W2954002293","https://openalex.org/W2078264086","https://openalex.org/W2892741875","https://openalex.org/W2164372000","https://openalex.org/W2109143577","https://openalex.org/W2992534160","https://openalex.org/W1595058678","https://openalex.org/W3022812046","https://openalex.org/W2745830841"],"abstract_inverted_index":{"Automation":[0],"of":[1,30,35,59,70,75,81,111,117,129,145,159,167],"inspection":[2,45],"and":[3,21,38,51,64,86,99],"repair":[4,40,65,128,152,166],"tasks":[5],"on":[6,26],"complex":[7],"installations":[8],"is":[9,171],"gaining":[10],"attention":[11],"from":[12],"industries":[13],"with":[14,54],"high-value":[15,168],"assets":[16],"such":[17,150],"as":[18],"aerospace,":[19],"nuclear":[20],"marine.":[22],"This":[23],"paper":[24],"reports":[25],"a":[27,43,71,130,135,157,172],"five":[28],"degrees":[29],"freedom":[31],"robotic":[32,72,122],"system":[33,109,123,147],"capable":[34,74],"performing":[36],"accurate":[37,93],"repeatable":[39],"procedures":[41],"through":[42],"narrow":[44],"port,":[46],"which":[47,170],"minimizes":[48],"the":[49,60,68,77,82,100,118,121,143,146],"cost":[50],"downtime":[52],"associated":[53],"unscheduled":[55],"maintenance.":[56],"Careful":[57],"study":[58],"target":[61],"working":[62],"volume":[63],"process":[66],"informed":[67],"design":[69],"probe":[73],"replicating":[76],"operation.":[78],"Kinematic":[79],"analysis":[80],"robot's":[83],"flexible,":[84],"prismatic":[85],"rotary":[87],"joints":[88],"was":[89,124],"used":[90],"to":[91,148,174],"define":[92],"machining":[94],"paths":[95],"in":[96,134,161],"3D":[97],"space,":[98],"results":[101,139],"were":[102],"verified":[103],"using":[104],"an":[105],"optical":[106],"motion":[107],"capture":[108],"(accuracy":[110],"0.25":[112],"mm).":[113],"After":[114],"comprehensive":[115],"verifications":[116],"constitutive":[119],"elements,":[120],"successfully":[125],"demonstrated":[126],"for":[127,165],"high-pressure":[131],"compressor":[132],"aerofoil":[133],"gas":[136],"turbine.":[137],"The":[138],"not":[140],"only":[141],"proves":[142],"ability":[144],"address":[149],"difficult":[151],"scenarios":[153],"but":[154],"also":[155],"highlights":[156],"domain":[158],"opportunities":[160],"developing":[162],"specialist":[163],"robotics":[164],"assets,":[169],"subject":[173],"growing":[175],"global":[176],"demand.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}