{"id":"https://openalex.org/W2146515231","doi":"https://doi.org/10.1109/robot.2004.1302554","title":"Hybrid model in a real-time soil parameter identification scheme for autonomous excavation","display_name":"Hybrid model in a real-time soil parameter identification scheme for autonomous excavation","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2146515231","doi":"https://doi.org/10.1109/robot.2004.1302554","mag":"2146515231"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1302554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5058600296","display_name":"Choopar Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Choopar Tan","raw_affiliation_strings":["Department of Mechanical Engineering, King''s College, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, King''s College, London, UK","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057275866","display_name":"Yahya Zweiri","orcid":"https://orcid.org/0000-0003-4331-7254"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Y.H. Zweiri","raw_affiliation_strings":["Department of Mechanical Engineering, King''s College, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, King''s College, London, UK","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"K. Althoefer","raw_affiliation_strings":["Department of Mechanical Engineering, King''s College, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, King''s College, London, UK","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074862138","display_name":"Lakmal Seneviratne","orcid":"https://orcid.org/0000-0001-6405-8402"},"institutions":[{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"L.D. Seneviratne","raw_affiliation_strings":["Department of Mechanical Engineering, King''s College, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, King''s College, London, UK","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058600296"],"corresponding_institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"],"apc_list":null,"apc_paid":null,"fwci":0.7235,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.76846921,"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":"5268","last_page":"5273"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T12482","display_name":"Tunneling and Rock Mechanics","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/excavator","display_name":"Excavator","score":0.7096390724182129},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6262429356575012},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5015263557434082},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.43483296036720276},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.4285869598388672},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4118845462799072},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32131877541542053},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29749545454978943},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20350605249404907},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19839277863502502},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13641342520713806},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.111488938331604}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.7096390724182129},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6262429356575012},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5015263557434082},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.43483296036720276},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.4285869598388672},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4118845462799072},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32131877541542053},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29749545454978943},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20350605249404907},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19839277863502502},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13641342520713806},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.111488938331604},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/robot.2004.1302554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/00429156-7b17-4368-bc44-94090cb09ef2","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=3042640777&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Tan, C P, Zweiri, Y H, Althoefer, K & Seneviratne, L D 2004, Hybrid model in a real-time soil parameter identification scheme for autonomous excavation. in IEEE INT CONF ROBOT & AUTOMAT. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, NEW YORK, pp. 5268 - 5273, IEEE International Conference on Robotics and Automation (IEEE ICRA 2004), New Orleans, LA, 1/01/2004.","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W4269576","https://openalex.org/W1482435606","https://openalex.org/W1534597804","https://openalex.org/W1838702372","https://openalex.org/W1981662930","https://openalex.org/W1989694830","https://openalex.org/W2045056955","https://openalex.org/W2083633827","https://openalex.org/W2087070363","https://openalex.org/W2123768931","https://openalex.org/W2124834123","https://openalex.org/W2139499503","https://openalex.org/W2156976619","https://openalex.org/W2432517183","https://openalex.org/W2981264952","https://openalex.org/W3097169496","https://openalex.org/W4240802883"],"related_works":["https://openalex.org/W3003601017","https://openalex.org/W2038528908","https://openalex.org/W2997898942","https://openalex.org/W2997279469","https://openalex.org/W2901741596","https://openalex.org/W2363098002","https://openalex.org/W2347606691","https://openalex.org/W2391703932","https://openalex.org/W2370050348","https://openalex.org/W2353530107"],"abstract_inverted_index":{"Real":[0],"time":[1,135,144],"estimation":[2,114,134,145],"for":[3,10,23,169],"soil-tool":[4,171],"interaction":[5,172],"is":[6,58,84,116,151,163],"a":[7,21,32,62,142],"key":[8],"method":[9,22,83,140,162],"the":[11,25,42,47,69,74,77,88,93,96,100,104,112,121,126,131,138,156,170],"development":[12],"of":[13,41,76,174],"an":[14,175,179],"autonomous":[15,176],"excavation":[16],"strategy.":[17],"This":[18],"paper":[19],"presents":[20],"identifying":[24],"unknown":[26],"soil":[27,35,44,53,65,89,106,123],"parameters":[28,90,124],"in":[29,178],"real-time":[30],"using":[31],"novel":[33],"hybrid":[34,38,105],"model.":[36,54,107],"The":[37,80,108,160],"models":[39],"consist":[40],"Mohr-Coulomb":[43],"model":[45,66],"and":[46,49,99,125,166,182],"Chen":[48],"Liu":[50],"Upper":[51],"Bound":[52],"A":[55,147],"switching":[56],"mode":[57],"utilized":[59],"to":[60,67,86,120,155],"select":[61],"more":[63],"accurate":[64,117],"compute":[68],"failure":[70],"force":[71],"depending":[72],"on":[73],"position":[75],"excavator":[78,177],"bucket.":[79],"Newton":[81],"Raphson":[82],"proposed":[85,113,139,161],"identify":[87],"by":[91,103],"minimizing":[92],"error":[94],"between":[95],"experimental":[97,127],"forces":[98,101],"computed":[102],"results":[109],"demonstrate":[110],"that":[111,137],"scheme":[115],"when":[118,153],"comparing":[119],"measured":[122],"data.":[128],"In":[129],"addition,":[130],"high":[132,149],"speed":[133],"shows":[136],"has":[141],"real":[143],"capability.":[146],"very":[148,164],"robustness":[150],"achieved":[152],"compared":[154],"least":[157],"square":[158],"method.":[159],"promising":[165],"highly":[167],"suitable":[168],"identification":[173],"unpredictable,":[180],"dynamical":[181],"potentially":[183],"hazardous":[184],"environment.":[185]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}