{"id":"https://openalex.org/W4289537163","doi":"https://doi.org/10.1109/lra.2022.3195189","title":"Robotic Depowdering for Additive Manufacturing Via Pose Tracking","display_name":"Robotic Depowdering for Additive Manufacturing Via Pose Tracking","publication_year":2022,"publication_date":"2022-08-02","ids":{"openalex":"https://openalex.org/W4289537163","doi":"https://doi.org/10.1109/lra.2022.3195189"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3195189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3195189","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5010559444","display_name":"Zhenwei Liu","orcid":"https://orcid.org/0000-0002-3944-0279"},"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":"Zhenwei Liu","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3944-0279","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014226370","display_name":"Junyi Geng","orcid":"https://orcid.org/0000-0002-6494-6810"},"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":"Junyi Geng","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6494-6810","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037624018","display_name":"Xikai Dai","orcid":"https://orcid.org/0000-0002-6991-4324"},"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":"Xikai Dai","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6991-4324","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038085346","display_name":"Tomasz Swierzewski","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":"Tomasz Swierzewski","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724128","display_name":"Kenji Shimada","orcid":"https://orcid.org/0000-0001-8827-672X"},"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":"Kenji Shimada","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6272,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.6511315,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":"4","first_page":"10770","last_page":"10777"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9965000152587891,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/laptop","display_name":"Laptop","score":0.8792824745178223},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.796718180179596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7187783122062683},{"id":"https://openalex.org/keywords/3d-printed","display_name":"3d printed","score":0.6267486214637756},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5922375917434692},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5796099901199341},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5636622309684753},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5432255864143372},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5412781238555908},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5261561274528503},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5106235146522522},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4153149425983429},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.23417121171951294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17427164316177368},{"id":"https://openalex.org/keywords/manufacturing-engineering","display_name":"Manufacturing engineering","score":0.08578827977180481},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07360267639160156}],"concepts":[{"id":"https://openalex.org/C2780008327","wikidata":"https://www.wikidata.org/wiki/Q3962","display_name":"Laptop","level":2,"score":0.8792824745178223},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.796718180179596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7187783122062683},{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.6267486214637756},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5922375917434692},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5796099901199341},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5636622309684753},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5432255864143372},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5412781238555908},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5261561274528503},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5106235146522522},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4153149425983429},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.23417121171951294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17427164316177368},{"id":"https://openalex.org/C117671659","wikidata":"https://www.wikidata.org/wiki/Q11049265","display_name":"Manufacturing engineering","level":1,"score":0.08578827977180481},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07360267639160156},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3195189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3195189","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1980931830","https://openalex.org/W2003790599","https://openalex.org/W2004312117","https://openalex.org/W2046249243","https://openalex.org/W2049981393","https://openalex.org/W2052789223","https://openalex.org/W2065042868","https://openalex.org/W2143715815","https://openalex.org/W2144594079","https://openalex.org/W2146447720","https://openalex.org/W2158890580","https://openalex.org/W2344109021","https://openalex.org/W2962783853","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963188159","https://openalex.org/W2963892972","https://openalex.org/W2964249569","https://openalex.org/W3034597466","https://openalex.org/W3089387070","https://openalex.org/W3091357794","https://openalex.org/W3092774272","https://openalex.org/W3133557228","https://openalex.org/W3163945288","https://openalex.org/W3190988267","https://openalex.org/W3199983150","https://openalex.org/W4205105995"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2595172197","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W3153292769","https://openalex.org/W2387293848"],"abstract_inverted_index":{"With":[0],"the":[1,67,88,103,133,144,153,166],"rapid":[2],"development":[3],"of":[4,11,69,82,91,135,146,152],"powder-based":[5],"additive":[6],"manufacturing,":[7],"depowdering,":[8],"a":[9,21,58,76,83,97,115],"process":[10],"removing":[12],"unfused":[13,64,130],"powder":[14,65,131],"that":[15,61,86,101,125,158],"covers":[16],"3D-printed":[17,50,70,137],"parts,":[18],"has":[19],"become":[20],"major":[22],"bottleneck":[23],"to":[24,48,120,160],"further":[25],"improve":[26],"its":[27],"productiveness.":[28],"Traditional":[29],"manual":[30],"depowdering":[31,104,156],"is":[32,75,150],"extremely":[33],"time-consuming":[34],"and":[35,37,96],"costly,":[36],"some":[38],"prior":[39],"automated":[40],"systems":[41,157],"either":[42],"require":[43],"pre-depowdering":[44],"or":[45],"lack":[46],"adaptability":[47],"different":[49],"parts.":[51,71],"To":[52,143],"solve":[53],"these":[54],"problems,":[55],"we":[56],"introduce":[57],"robotic":[59],"system":[60,127],"automatically":[62],"removes":[63],"from":[66,132],"surface":[68,134],"The":[72,107],"key":[73],"component":[74],"visual":[77],"perception":[78],"system,":[79],"which":[80],"consists":[81],"pose-tracking":[84],"module":[85,100,109],"tracks":[87],"6D":[89],"pose":[90],"powder-occluded":[92],"parts":[93,138,161],"in":[94],"real-time,":[95],"progress":[98],"estimation":[99],"estimates":[102],"completion":[105],"percentage.":[106],"tracking":[108],"can":[110,128],"be":[111],"run":[112],"efficiently":[113],"on":[114],"laptop":[116],"CPU":[117],"at":[118],"up":[119],"60":[121],"FPS.":[122],"Experiments":[123],"show":[124],"our":[126,147],"remove":[129],"various":[136,163],"without":[139,165],"causing":[140],"any":[141],"damage.":[142],"best":[145],"knowledge,":[148],"this":[149],"one":[151],"first":[154],"vision-based":[155],"adapt":[159],"with":[162],"shapes":[164],"need":[167],"for":[168],"pre-depowdering.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
