{"id":"https://openalex.org/W1983931525","doi":"https://doi.org/10.1109/tcyb.2013.2253461","title":"A New Performance Index for the Repetitive Motion of Mobile Manipulators","display_name":"A New Performance Index for the Repetitive Motion of Mobile Manipulators","publication_year":2013,"publication_date":"2013-05-07","ids":{"openalex":"https://openalex.org/W1983931525","doi":"https://doi.org/10.1109/tcyb.2013.2253461","mag":"1983931525","pmid":"https://pubmed.ncbi.nlm.nih.gov/23757549"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2013.2253461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2013.2253461","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5005130812","display_name":"Lin Xiao","orcid":"https://orcid.org/0000-0003-3172-3490"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Xiao","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-Sen University, Guangzhou, China","School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053064477","display_name":"Yunong Zhang","orcid":"https://orcid.org/0000-0002-2228-0395"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunong Zhang","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-Sen University, Guangzhou, China","School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":7.5262,"has_fulltext":false,"cited_by_count":118,"citation_normalized_percentile":{"value":0.9694854,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"44","issue":"2","first_page":"280","last_page":"292"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9979000091552734,"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":0.9966999888420105,"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/mobile-manipulator","display_name":"Mobile manipulator","score":0.6682872772216797},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5612803101539612},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5368464589118958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5283297300338745},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.525903582572937},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.504236102104187},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49552786350250244},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44952383637428284},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.43093276023864746},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4299094080924988},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.42711737751960754},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3793298900127411},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3257666230201721},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2675821781158447},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1899254322052002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14958122372627258}],"concepts":[{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.6682872772216797},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5612803101539612},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5368464589118958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5283297300338745},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.525903582572937},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.504236102104187},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49552786350250244},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44952383637428284},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.43093276023864746},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4299094080924988},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.42711737751960754},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3793298900127411},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3257666230201721},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2675821781158447},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1899254322052002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14958122372627258},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009991","descriptor_name":"Oscillometry","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D009991","descriptor_name":"Oscillometry","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D009991","descriptor_name":"Oscillometry","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D010363","descriptor_name":"Pattern Recognition, Automated","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D010363","descriptor_name":"Pattern Recognition, Automated","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D010363","descriptor_name":"Pattern Recognition, Automated","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2013.2253461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2013.2253461","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:23757549","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/23757549","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.47999998927116394},{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W134451811","https://openalex.org/W258481170","https://openalex.org/W1488735203","https://openalex.org/W1488903562","https://openalex.org/W1965619116","https://openalex.org/W1970494767","https://openalex.org/W1973711904","https://openalex.org/W1974974058","https://openalex.org/W1976087822","https://openalex.org/W1988751333","https://openalex.org/W1991238271","https://openalex.org/W2003078294","https://openalex.org/W2038533008","https://openalex.org/W2063471227","https://openalex.org/W2068398905","https://openalex.org/W2071466283","https://openalex.org/W2076718627","https://openalex.org/W2097677484","https://openalex.org/W2100805923","https://openalex.org/W2103472288","https://openalex.org/W2105087206","https://openalex.org/W2116897603","https://openalex.org/W2121205585","https://openalex.org/W2129644801","https://openalex.org/W2140515110","https://openalex.org/W2143217500","https://openalex.org/W2144629157","https://openalex.org/W2150613245","https://openalex.org/W2153202134","https://openalex.org/W2154170721","https://openalex.org/W2156488586","https://openalex.org/W2164342016","https://openalex.org/W2164643146","https://openalex.org/W2169718733","https://openalex.org/W2246023205","https://openalex.org/W2345244325","https://openalex.org/W4243737224"],"related_works":["https://openalex.org/W2381242807","https://openalex.org/W2751208925","https://openalex.org/W2347541121","https://openalex.org/W4288804799","https://openalex.org/W3089617106","https://openalex.org/W3032237421","https://openalex.org/W2080951048","https://openalex.org/W3011883280","https://openalex.org/W2390346111","https://openalex.org/W2369082698"],"abstract_inverted_index":{"A":[0,140],"mobile":[1,10,27,30,91],"manipulator":[2,15,34],"is":[3,65,78,94,147],"a":[4,9,13,45,69,74,98,120,127,135],"robotic":[5],"device":[6],"composed":[7],"of":[8,26,61,90,156,168,188],"platform":[11,31],"and":[12,32,56,86,105,131,150,166,179,186],"stationary":[14],"fixed":[16],"to":[17,36,103,116],"the":[18,22,29,33,38,52,63,82,153,157,164,169,177,184,189],"platform.":[19],"To":[20,42],"achieve":[21],"repetitive":[23,39,75,170,180],"motion":[24,40,76,171,181],"control":[25],"manipulators,":[28,92],"have":[35],"realize":[37],"simultaneously.":[41],"do":[43],"so,":[44],"novel":[46],"quadratic":[47,99],"performance":[48],"index":[49],"is,":[50],"for":[51,152],"first":[53],"time,":[54],"designed":[55],"presented":[57],"in":[58],"this":[59],"paper,":[60],"which":[62,93],"effectiveness":[64,165],"analyzed":[66],"by":[67,80],"following":[68],"neural":[70],"dynamics":[71],"method.":[72],"Then,":[73],"scheme":[77],"proposed":[79,190],"combining":[81],"criterion,":[83],"physical":[84],"constraints,":[85],"integrated":[87],"kinematical":[88],"equations":[89],"further":[95,182],"reformulated":[96],"as":[97],"programming":[100],"(QP)":[101],"subject":[102],"equality":[104],"bound":[106],"constraints.":[107],"In":[108,173],"addition,":[109,174],"two":[110],"important":[111],"Bridge":[112],"theorems":[113],"are":[114],"established":[115],"prove":[117],"that":[118],"such":[119],"QP":[121],"can":[122],"be":[123],"converted":[124],"equivalently":[125,133],"into":[126,134],"linear":[128],"variational":[129],"inequality,":[130],"then":[132],"piecewise-linear":[136],"projection":[137],"equation":[138],"(PLPE).":[139],"real-time":[141],"numerical":[142],"algorithm":[143],"based":[144],"on":[145],"PLPE":[146],"thus":[148],"developed":[149],"applied":[151],"online":[154],"solution":[155],"resultant":[158],"QP.":[159],"Two":[160],"tracking-path":[161],"tasks":[162],"demonstrate":[163],"accuracy":[167],"scheme.":[172,191],"comparisons":[175],"between":[176],"nonrepetitive":[178],"validate":[183],"superiority":[185],"novelty":[187]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
