{"id":"https://openalex.org/W7125963632","doi":"https://doi.org/10.1109/smc58881.2025.11343364","title":"Interactive Identification of Granular Materials using Force Measurements","display_name":"Interactive Identification of Granular Materials using Force Measurements","publication_year":2025,"publication_date":"2025-10-05","ids":{"openalex":"https://openalex.org/W7125963632","doi":"https://doi.org/10.1109/smc58881.2025.11343364"},"language":null,"primary_location":{"id":"doi:10.1109/smc58881.2025.11343364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc58881.2025.11343364","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5094264796","display_name":"Samuli Hynninen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI","US"],"is_corresponding":true,"raw_author_name":"Samuli Hynninen","raw_affiliation_strings":["Aalto University,School of Electrical Engineering,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland"],"affiliations":[{"raw_affiliation_string":"Aalto University,School of Electrical Engineering,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland","institution_ids":["https://openalex.org/I9927081","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124124270","display_name":"Tran Nguyen Le","orcid":null},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Tran Nguyen Le","raw_affiliation_strings":["Technical University of Denmark,Section of Mechanical Technology at the Department of Engineering Technology and Didactics,Denmark"],"affiliations":[{"raw_affiliation_string":"Technical University of Denmark,Section of Mechanical Technology at the Department of Engineering Technology and Didactics,Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5094264797","display_name":"Ville Kyrki","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI","US"],"is_corresponding":false,"raw_author_name":"Ville Kyrki","raw_affiliation_strings":["Aalto University,School of Electrical Engineering,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland"],"affiliations":[{"raw_affiliation_string":"Aalto University,School of Electrical Engineering,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland","institution_ids":["https://openalex.org/I9927081","https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5094264796"],"corresponding_institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I9927081"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.67373373,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3352","last_page":"3359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4505000114440918,"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":0.4505000114440918,"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":0.23340000212192535,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.020099999383091927,"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/granular-material","display_name":"Granular material","score":0.7498999834060669},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6414999961853027},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.557200014591217},{"id":"https://openalex.org/keywords/granular-computing","display_name":"Granular computing","score":0.5533000230789185},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.545199990272522},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.5127999782562256},{"id":"https://openalex.org/keywords/feature-vector","display_name":"Feature vector","score":0.4514999985694885},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39730000495910645}],"concepts":[{"id":"https://openalex.org/C32568104","wikidata":"https://www.wikidata.org/wiki/Q1155083","display_name":"Granular material","level":2,"score":0.7498999834060669},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6414999961853027},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6116999983787537},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.557200014591217},{"id":"https://openalex.org/C17209119","wikidata":"https://www.wikidata.org/wiki/Q5596712","display_name":"Granular computing","level":3,"score":0.5533000230789185},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.545199990272522},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.5127999782562256},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.4514999985694885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.447299987077713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39730000495910645},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3937999904155731},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.35839998722076416},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3490000069141388},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3472000062465668},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3221000134944916},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3018999993801117},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2847999930381775},{"id":"https://openalex.org/C55037315","wikidata":"https://www.wikidata.org/wiki/Q5421151","display_name":"Experimental data","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.2630000114440918},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.258899986743927}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc58881.2025.11343364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc58881.2025.11343364","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5388141870498657,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320328501","display_name":"Business Finland","ror":"https://ror.org/05bgf9v38"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2033513078","https://openalex.org/W2044144232","https://openalex.org/W2058444317","https://openalex.org/W2144562310","https://openalex.org/W2170054691","https://openalex.org/W2199040891","https://openalex.org/W2294798173","https://openalex.org/W2571157972","https://openalex.org/W2590636867","https://openalex.org/W2962691975","https://openalex.org/W2989791676","https://openalex.org/W3003375370","https://openalex.org/W3090049255","https://openalex.org/W3093165378","https://openalex.org/W3216229250","https://openalex.org/W4306406717","https://openalex.org/W4381996500","https://openalex.org/W4383097522","https://openalex.org/W4388624093","https://openalex.org/W4389665810","https://openalex.org/W4389667049","https://openalex.org/W4401417373","https://openalex.org/W4406016094"],"related_works":[],"abstract_inverted_index":{"Despite":[0],"the":[1,3,31,62,69,134,151,160,168],"potential":[2],"ability":[4],"to":[5,47,133],"identify":[6,48,97],"granular":[7,18,53,83,102],"materials":[8,32,54,103],"creates":[9],"for":[10,144],"applications":[11],"such":[12],"as":[13,159],"robotic":[14],"cooking":[15],"or":[16],"earthmoving,":[17],"material":[19,41],"identification":[20,42],"remains":[21],"a":[22,49,78,98,126,148,175],"challenging":[23],"area,":[24],"existing":[25],"methods":[26],"mostly":[27],"relying":[28,108],"on":[29,110],"shaking":[30],"in":[33],"closed":[34],"containers.":[35],"This":[36],"work":[37],"presents":[38],"an":[39],"interactive":[40],"framework":[43],"that":[44,93,125,167],"enables":[45],"robots":[46],"wide":[50,99],"range":[51,100],"of":[52,101,150],"using":[55],"only":[56],"force-torque":[57],"measurements.":[58],"Unlike":[59],"prior":[60],"works,":[61],"proposed":[63,169],"approach":[64,72],"uses":[65],"direct":[66,115],"interaction":[67],"with":[68,77,104],"materials.":[70],"The":[71,178],"is":[73],"evaluated":[74],"through":[75],"experiments":[76,123],"real-world":[79],"dataset":[80],"comprising":[81],"11":[82],"materials,":[84],"which":[85],"we":[86],"also":[87],"make":[88],"publicly":[89],"available.":[90],"Results":[91],"show":[92,124,166],"our":[94,118],"method":[95],"can":[96],"near-perfect":[105],"accuracy":[106],"while":[107],"solely":[109],"force":[111,135],"measurements":[112],"obtained":[113],"from":[114],"interaction.":[116],"Further,":[117],"comprehensive":[119],"data":[120,181],"analysis":[121],"and":[122,139,154,180],"high-performancefeature":[127],"space":[128,163,171],"must":[129],"combine":[130],"features":[131],"related":[132],"signal\u2019s":[136],"time-domain":[137],"dynamics":[138],"frequency":[140],"spectrum.":[141],"We":[142,165],"account":[143],"this":[145],"by":[146,174],"proposing":[147],"combination":[149],"raw":[152],"signal":[153],"its":[155],"high-frequency":[156],"magnitude":[157],"histogram":[158],"suggested":[161],"feature":[162,170],"representation.":[164],"outperforms":[172],"baselines":[173],"significant":[176],"margin.":[177],"code":[179],"set":[182],"are":[183],"available":[184],"at:":[185],"https://irobotics.aalto.fi/identify_granular/.":[186]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-29T00:00:00"}
