{"id":"https://openalex.org/W4403863380","doi":"https://doi.org/10.1109/lra.2024.3487512","title":"Learning Based Exteroception of Soft Underwater Manipulator With Soft Actuator Network","display_name":"Learning Based Exteroception of Soft Underwater Manipulator With Soft Actuator Network","publication_year":2024,"publication_date":"2024-10-29","ids":{"openalex":"https://openalex.org/W4403863380","doi":"https://doi.org/10.1109/lra.2024.3487512"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3487512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3487512","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/A5009767915","display_name":"Kailuan Tang","orcid":"https://orcid.org/0000-0002-4512-2576"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kailuan Tang","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-4512-2576","affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089577375","display_name":"Shaowu Tang","orcid":"https://orcid.org/0009-0007-7563-6862"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaowu Tang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0007-7563-6862","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009756422","display_name":"Chenghua Lu","orcid":"https://orcid.org/0009-0004-1495-0389"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenghua Lu","raw_affiliation_strings":["School of Engineering Mathematics and Technology, Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0009-0004-1495-0389","affiliations":[{"raw_affiliation_string":"School of Engineering Mathematics and Technology, Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084648447","display_name":"Shijian Wu","orcid":"https://orcid.org/0009-0006-6831-4497"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shijian Wu","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0006-6831-4497","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684824","display_name":"Sicong Liu","orcid":"https://orcid.org/0000-0002-1872-5283"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sicong Liu","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-1872-5283","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059499726","display_name":"Juan Yi","orcid":"https://orcid.org/0009-0002-8407-3057"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juan Yi","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-5992-4254","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian S. Dai","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-9729-1662","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045214230","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0002-7726-0770"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7726-0770","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5009767915"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17271384,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"12","first_page":"11082","last_page":"11089"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9007999897003174,"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":0.9007999897003174,"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/actuator","display_name":"Actuator","score":0.6483904719352722},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6343816518783569},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5853363275527954},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5340700745582581},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5193729996681213},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4128708839416504},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4072680175304413},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26633158326148987},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2552995979785919},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2014070451259613},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18391001224517822},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06015905737876892}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6483904719352722},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6343816518783569},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5853363275527954},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5340700745582581},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5193729996681213},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4128708839416504},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4072680175304413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26633158326148987},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2552995979785919},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2014070451259613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18391001224517822},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06015905737876892},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3487512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3487512","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":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G5527454098","display_name":null,"funder_award_id":"2021A1515110658","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G658489332","display_name":null,"funder_award_id":"52475302","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1994906459","https://openalex.org/W2093231248","https://openalex.org/W2560704029","https://openalex.org/W2561257457","https://openalex.org/W2561340204","https://openalex.org/W2784065174","https://openalex.org/W2791180667","https://openalex.org/W2809251723","https://openalex.org/W2934307726","https://openalex.org/W2953348920","https://openalex.org/W2954761708","https://openalex.org/W2967061115","https://openalex.org/W2985440010","https://openalex.org/W2995712318","https://openalex.org/W3008027823","https://openalex.org/W3008161783","https://openalex.org/W3133715594","https://openalex.org/W3137746387","https://openalex.org/W3165472471","https://openalex.org/W3198825242","https://openalex.org/W4206315285","https://openalex.org/W4285102288","https://openalex.org/W4293182219","https://openalex.org/W4293246001","https://openalex.org/W4306632919","https://openalex.org/W4307134673","https://openalex.org/W4311772445","https://openalex.org/W4319461915","https://openalex.org/W4319866183","https://openalex.org/W4362457721","https://openalex.org/W4387092554","https://openalex.org/W4391020594","https://openalex.org/W4394966816"],"related_works":["https://openalex.org/W4293702207","https://openalex.org/W4385439013","https://openalex.org/W2385165696","https://openalex.org/W4296449477","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734","https://openalex.org/W2362551533","https://openalex.org/W2386777533","https://openalex.org/W2373581562"],"abstract_inverted_index":{"Interactions":[0],"with":[1,135],"environmental":[2],"objects":[3],"can":[4,78,131],"induce":[5],"substantial":[6],"alterations":[7],"in":[8,73],"both":[9],"exteroceptive":[10,18,44],"and":[11,27,51,61,77,91,109,119,158],"proprioceptive":[12,49,82],"signals.":[13],"However,":[14],"the":[15,53,71,88,115,121,128,142,151],"deployment":[16],"of":[17,55,117,139,153],"sensors":[19],"within":[20,150],"underwater":[21,74,154],"soft":[22,56,75,155],"manipulators":[23,76],"encounters":[24],"numerous":[25],"challenges":[26],"constraints,":[28],"thereby":[29],"imposing":[30],"limitations":[31],"on":[32],"their":[33],"perception":[34,157],"capabilities.":[35],"In":[36],"this":[37],"article,":[38],"we":[39],"present":[40],"a":[41,93,106],"novel":[42],"learning-based":[43],"approach":[45],"that":[46,127],"utilizes":[47],"internal":[48],"signals":[50,90],"harnesses":[52],"principles":[54],"actuator":[57],"network":[58,96],"(SAN).":[59],"Deformation":[60],"vibration":[62],"resulting":[63],"from":[64,87],"external":[65],"collisions":[66],"tend":[67],"to":[68,99],"propagate":[69],"through":[70],"SANs":[72],"be":[79],"detected":[80],"by":[81],"sensors.":[83],"We":[84,103],"extract":[85],"features":[86],"sensor":[89],"develop":[92],"fully-connected":[94],"neural":[95],"(FCNN)-based":[97],"classifier":[98],"determine":[100],"collision":[101,133],"positions.":[102],"have":[104],"constructed":[105],"training":[107,118],"dataset":[108,113],"an":[110,136],"independent":[111,143],"validation":[112,144],"for":[114],"purpose":[116],"validating":[120],"classifier.":[122],"The":[123],"experimental":[124],"results":[125],"affirm":[126],"proposed":[129],"method":[130],"identify":[132],"locations":[134],"accuracy":[137],"level":[138],"97.11%":[140],"using":[141],"dataset,":[145],"which":[146],"exhibits":[147],"potential":[148],"applications":[149],"domain":[152],"robotics":[156],"control.":[159]},"counts_by_year":[],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}
