{"id":"https://openalex.org/W2022150617","doi":"https://doi.org/10.1109/ramech.2008.4681414","title":"A New Distance Algorithm and Its Application to General Force-Closure Test","display_name":"A New Distance Algorithm and Its Application to General Force-Closure Test","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2022150617","doi":"https://doi.org/10.1109/ramech.2008.4681414","mag":"2022150617"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2008.4681414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","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/A5103176848","display_name":"Y. Zheng","orcid":"https://orcid.org/0000-0002-4617-3252"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Yu Zheng","raw_affiliation_strings":["Control & Mechatronics Laboratory, National University of Singapore, Singapore","Control & Mechatron. Lab., Nat. Univ. of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Control & Mechatronics Laboratory, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Control & Mechatron. Lab., Nat. Univ. of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073468340","display_name":"Chee\u2013Meng Chew","orcid":"https://orcid.org/0000-0002-6396-4371"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee-Meng Chew","raw_affiliation_strings":["Control & Mechatronics Laboratory, National University of Singapore, Singapore","Control & Mechatron. Lab., Nat. Univ. of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Control & Mechatronics Laboratory, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Control & Mechatron. Lab., Nat. Univ. of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103176848"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.06307488,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"313","last_page":"318"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9919000267982483,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.7551136016845703},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.634515643119812},{"id":"https://openalex.org/keywords/convex-cone","display_name":"Convex cone","score":0.6094692349433899},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5752182602882385},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5436238050460815},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5314302444458008},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5270312428474426},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4995300769805908},{"id":"https://openalex.org/keywords/finite-set","display_name":"Finite set","score":0.4758056104183197},{"id":"https://openalex.org/keywords/cone","display_name":"Cone (formal languages)","score":0.431493878364563},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43148359656333923},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4262329638004303},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4165959060192108},{"id":"https://openalex.org/keywords/convex-function","display_name":"Convex function","score":0.4137600362300873},{"id":"https://openalex.org/keywords/convex-set","display_name":"Convex set","score":0.37829917669296265},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.36880987882614136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.321213960647583},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.29742372035980225},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2011944055557251},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14706474542617798}],"concepts":[{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.7551136016845703},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.634515643119812},{"id":"https://openalex.org/C28340159","wikidata":"https://www.wikidata.org/wiki/Q2256541","display_name":"Convex cone","level":5,"score":0.6094692349433899},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5752182602882385},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5436238050460815},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5314302444458008},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5270312428474426},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4995300769805908},{"id":"https://openalex.org/C162392398","wikidata":"https://www.wikidata.org/wiki/Q272404","display_name":"Finite set","level":2,"score":0.4758056104183197},{"id":"https://openalex.org/C30014739","wikidata":"https://www.wikidata.org/wiki/Q5159445","display_name":"Cone (formal languages)","level":2,"score":0.431493878364563},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43148359656333923},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4262329638004303},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4165959060192108},{"id":"https://openalex.org/C145446738","wikidata":"https://www.wikidata.org/wiki/Q319913","display_name":"Convex function","level":3,"score":0.4137600362300873},{"id":"https://openalex.org/C49870271","wikidata":"https://www.wikidata.org/wiki/Q193657","display_name":"Convex set","level":4,"score":0.37829917669296265},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.36880987882614136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.321213960647583},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.29742372035980225},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2011944055557251},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14706474542617798},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ramech.2008.4681414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/73059","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/73059","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1549675037","https://openalex.org/W1564897360","https://openalex.org/W1822858039","https://openalex.org/W1901378578","https://openalex.org/W1999134477","https://openalex.org/W2009641409","https://openalex.org/W2013833162","https://openalex.org/W2045471590","https://openalex.org/W2061343052","https://openalex.org/W2064878003","https://openalex.org/W2095125424","https://openalex.org/W2098304071","https://openalex.org/W2108998910","https://openalex.org/W2122796818","https://openalex.org/W2131286638","https://openalex.org/W2138550851","https://openalex.org/W2140892878","https://openalex.org/W2152247404","https://openalex.org/W2159044260","https://openalex.org/W2159622977","https://openalex.org/W2161269358","https://openalex.org/W2163228497","https://openalex.org/W2166316739","https://openalex.org/W2168210553","https://openalex.org/W2569769452","https://openalex.org/W4234100982"],"related_works":["https://openalex.org/W1965358437","https://openalex.org/W1974329054","https://openalex.org/W2023004229","https://openalex.org/W2068531293","https://openalex.org/W2064755091","https://openalex.org/W2069365182","https://openalex.org/W2073718737","https://openalex.org/W2116190705","https://openalex.org/W2184361932","https://openalex.org/W4378498771"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"algorithm":[4,44,77],"for":[5],"computing":[6],"the":[7,25,38,43,58,61],"distance":[8],"between":[9],"a":[10,13,34,47,88],"point":[11],"and":[12,65,70],"convex":[14,20],"cone":[15,21],"in":[16,46,92],"n-dimensional":[17],"space.":[18],"The":[19,52,73],"is":[22,41,78,87],"specified":[23],"by":[24,80,107],"set":[26,40],"of":[27,31,33,50,60,68,75,94],"all":[28],"nonnegative":[29],"combinations":[30],"points":[32],"given":[35,39],"set.":[36],"If":[37],"finite,":[42],"converges":[45],"finite":[48],"number":[49],"iterations.":[51],"iterative":[53],"computation":[54],"speeds":[55],"up":[56],"with":[57],"help":[59],"derived":[62],"recursive":[63],"formulas":[64],"effective":[66],"choice":[67],"initial":[69],"stopping":[71],"conditions.":[72],"function":[74],"this":[76,108],"demonstrated":[79],"its":[81],"application":[82],"to":[83],"force-closure":[84,101],"test,":[85],"which":[86],"fundamental":[89],"problem":[90],"arising":[91],"research":[93],"several":[95],"mechanisms.":[96],"Numerical":[97],"examples":[98],"show":[99],"that":[100],"can":[102],"be":[103],"verified":[104],"very":[105],"quickly":[106],"means.":[109]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}