{"id":"https://openalex.org/W7147055999","doi":"https://doi.org/10.1109/tase.2026.3679514","title":"HECE-IC: An Integrated Calibration Method for Delta Robot-Based Kitchen Waste Sorting Systems","display_name":"HECE-IC: An Integrated Calibration Method for Delta Robot-Based Kitchen Waste Sorting Systems","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7147055999","doi":"https://doi.org/10.1109/tase.2026.3679514"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3679514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3679514","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5132558015","display_name":"Hai Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I916048824","display_name":"Hunan First Normal University","ror":"https://ror.org/00s9d1a36","country_code":"CN","type":"education","lineage":["https://openalex.org/I916048824"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hai Qin","raw_affiliation_strings":["School of Electronic Information, Hunan First Normal University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-7506-4039","affiliations":[{"raw_affiliation_string":"School of Electronic Information, Hunan First Normal University, Changsha, China","institution_ids":["https://openalex.org/I916048824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024612338","display_name":"Li Zhou","orcid":"https://orcid.org/0009-0000-4314-4010"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Li Zhou","raw_affiliation_strings":["National Engineering Research Center of Robot Vision Perception and Control, School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0000-4314-4010","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Robot Vision Perception and Control, School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103001993","display_name":"Songyun Deng","orcid":"https://orcid.org/0000-0001-7840-2307"},"institutions":[{"id":"https://openalex.org/I198357462","display_name":"Changsha University","ror":"https://ror.org/011d8sm39","country_code":"CN","type":"education","lineage":["https://openalex.org/I198357462"]},{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songyun Deng","raw_affiliation_strings":["School of Artificial Intelligence, Changsha University of Science and Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-7840-2307","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Changsha University of Science and Technology, Changsha, China","institution_ids":["https://openalex.org/I56934997","https://openalex.org/I198357462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430876","display_name":"Xi Zhang","orcid":"https://orcid.org/0000-0003-3415-5345"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Xiangyu Zhang","raw_affiliation_strings":["National Engineering Research Center of Robot Vision Perception and Control, School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Robot Vision Perception and Control, School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064773330","display_name":"Qiaokang Liang","orcid":"https://orcid.org/0000-0002-5504-9966"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Qiaokang Liang","raw_affiliation_strings":["National Engineering Research Center of Robot Vision Perception and Control, School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-5504-9966","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Robot Vision Perception and Control, School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132635061","display_name":"Dan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Dan Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-7295-4837","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5132614209","display_name":"Yaonan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["National Engineering Research Center of Robot Vision Perception and Control, School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0519-6458","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Robot Vision Perception and Control, School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5132558015"],"corresponding_institution_ids":["https://openalex.org/I916048824"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.68983051,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"7669","last_page":"7681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.15440000593662262,"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":0.15440000593662262,"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/T13344","display_name":"Industrial Automation and Control Systems","score":0.09749999642372131,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.06830000132322311,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/sorting","display_name":"Sorting","score":0.8219000101089478},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7046999931335449},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6869999766349792},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5562000274658203},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5370000004768372},{"id":"https://openalex.org/keywords/conveyor-belt","display_name":"Conveyor belt","score":0.4925999939441681},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.46230000257492065},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.33390000462532043}],"concepts":[{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.8219000101089478},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7046999931335449},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6869999766349792},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5562000274658203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5370000004768372},{"id":"https://openalex.org/C2777709985","wikidata":"https://www.wikidata.org/wiki/Q770135","display_name":"Conveyor belt","level":2,"score":0.4925999939441681},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4788999855518341},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.46230000257492065},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4334999918937683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4059000015258789},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4041999876499176},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.33390000462532043},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33059999346733093},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.3303999900817871},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32170000672340393},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.3109999895095825},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C108094655","wikidata":"https://www.wikidata.org/wiki/Q181593","display_name":"Sorting algorithm","level":3,"score":0.2865000069141388},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27480000257492065},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.27469998598098755},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.27459999918937683},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.2703999876976013},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2669999897480011},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.26350000500679016},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25780001282691956}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3679514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3679514","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Responsible consumption and production","score":0.4138216972351074,"id":"https://metadata.un.org/sdg/12"}],"awards":[{"id":"https://openalex.org/G2272841856","display_name":null,"funder_award_id":"2026JJ90097","funder_id":"https://openalex.org/F4320322843","funder_display_name":"Natural Science Foundation of\u00a0Hunan Province"},{"id":"https://openalex.org/G5661167640","display_name":null,"funder_award_id":"25A0672","funder_id":"https://openalex.org/F4320333642","funder_display_name":"Scientific Research Foundation of Hunan Provincial Education Department"},{"id":"https://openalex.org/G7136028577","display_name":null,"funder_award_id":"2021YFC1910402","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null},{"id":"https://openalex.org/F4320333642","display_name":"Scientific Research Foundation of Hunan Provincial Education Department","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1,96],"presents":[2],"a":[3,13,42,71,98,129,167,174],"multifunctional":[4,30],"automated":[5],"sorting":[6,17,150,168,175],"system":[7,18,165],"for":[8,105],"kitchen":[9],"waste":[10,40,61,87],"based":[11,84],"on":[12,41,60,85,148],"Delta":[14],"robot.":[15],"The":[16,33,66,164],"is":[19,184],"divided":[20],"into":[21],"three":[22,120],"main":[23],"modules:":[24],"visual":[25,34],"detection,":[26],"information":[27,52],"processing,":[28],"and":[29,45,63,75,89,100,115,173],"robotic":[31,67],"sorting.":[32,93],"detection":[35,56],"module":[36],"captures":[37],"images":[38],"of":[39,171,177],"conveyor":[43],"belt":[44],"transmits":[46],"them":[47],"in":[48],"real-time":[49],"to":[50,91,142],"the":[51,86,125,149,152],"processing":[53],"unit,":[54],"where":[55],"algorithms":[57],"generate":[58],"data":[59],"categories":[62],"grasp":[64],"positions.":[65],"arm,":[68],"equipped":[69],"with":[70,118],"force":[72],"sensor,":[73],"gripper,":[74],"suction":[76,82],"cup,":[77],"selects":[78],"appropriate":[79],"grasping":[80],"or":[81],"functions":[83],"type":[88],"shape":[90],"complete":[92],"Additionally,":[94],"this":[95],"introduces":[97],"robust":[99],"efficient":[101],"integrated":[102],"calibration":[103,117,154,162],"method":[104,127],"robot":[106],"hand-eye-conveyor":[107],"belt-encoder":[108],"systems":[109],"(HECE-IC),":[110],"which":[111],"enables":[112],"simultaneous":[113],"hand-eye":[114],"encoder":[116],"only":[119],"simple":[121],"steps.":[122],"In":[123,145],"simulations,":[124],"proposed":[126],"maintains":[128],"reconstruction":[130],"error":[131,155],"as":[132,134],"low":[133],"0.423":[135],"mm":[136],"even":[137],"under":[138],"operation":[139],"errors":[140],"up":[141],"0.6":[143],"mm.":[144],"practical":[146],"experiments":[147],"platform,":[151],"average":[153],"stabilized":[156],"around":[157],"0.5":[158],"mm,":[159],"achieving":[160],"high":[161],"precision.":[163],"achieved":[166],"success":[169],"rate":[170],"90.2%":[172],"speed":[176],"979":[178],"objects":[179],"per":[180],"hour.":[181],"Our":[182],"code":[183],"available":[185],"at:":[186],"https://github.com/TDA-2030/XRobot.":[187]},"counts_by_year":[],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2026-04-02T00:00:00"}