{"id":"https://openalex.org/W4319865632","doi":"https://doi.org/10.1109/tie.2023.3239875","title":"Cerebellum-Inspired Model-Free Tracking Control and Visual Servoing of a Rigid-Flexible Hybrid Robotic Endoscope With RCM Constraints","display_name":"Cerebellum-Inspired Model-Free Tracking Control and Visual Servoing of a Rigid-Flexible Hybrid Robotic Endoscope With RCM Constraints","publication_year":2023,"publication_date":"2023-01-31","ids":{"openalex":"https://openalex.org/W4319865632","doi":"https://doi.org/10.1109/tie.2023.3239875"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3239875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3239875","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5101931980","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0003-0214-4932"},"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":true,"raw_author_name":"Xin Wang","raw_affiliation_strings":["School of Computer Science and Engineering and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100741008","display_name":"Ning Tan","orcid":"https://orcid.org/0000-0003-0710-6409"},"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":"Ning Tan","raw_affiliation_strings":["School of Computer Science and Engineering and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering and Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101931980"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":2.6946,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.90153136,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"70","issue":"12","first_page":"12626","last_page":"12635"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10581","display_name":"Neural dynamics and brain function","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9081944227218628},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6000075340270996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5960720181465149},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5744472146034241},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5700452327728271},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5005011558532715},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4889282286167145},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.46298471093177795},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4592364728450775},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44081127643585205},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39341893792152405},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3373943269252777},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2717647850513458},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2564428448677063},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10404491424560547}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9081944227218628},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6000075340270996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5960720181465149},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5744472146034241},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5700452327728271},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5005011558532715},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4889282286167145},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.46298471093177795},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4592364728450775},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44081127643585205},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39341893792152405},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3373943269252777},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2717647850513458},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2564428448677063},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10404491424560547},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3239875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3239875","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1158256415","display_name":null,"funder_award_id":"62173352","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2320314018","display_name":null,"funder_award_id":"2021A1515012314","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G266940681","display_name":null,"funder_award_id":"62006254","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1989169659","https://openalex.org/W2006370340","https://openalex.org/W2048630476","https://openalex.org/W2072763216","https://openalex.org/W2103179919","https://openalex.org/W2133450663","https://openalex.org/W2157239334","https://openalex.org/W2489193936","https://openalex.org/W2615772065","https://openalex.org/W2769154133","https://openalex.org/W2801350411","https://openalex.org/W2890509291","https://openalex.org/W2899173433","https://openalex.org/W2969331319","https://openalex.org/W2990793844","https://openalex.org/W2995712318","https://openalex.org/W2996469688","https://openalex.org/W3003406779","https://openalex.org/W3004630438","https://openalex.org/W3048422314","https://openalex.org/W3091039003","https://openalex.org/W3092598375","https://openalex.org/W3124575662","https://openalex.org/W3131953810","https://openalex.org/W3136827180","https://openalex.org/W3143287385","https://openalex.org/W3180610025","https://openalex.org/W3212437211","https://openalex.org/W3214519818","https://openalex.org/W4210860392","https://openalex.org/W4211206044","https://openalex.org/W4281750862"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3034003528","https://openalex.org/W2281711232","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2101598871","https://openalex.org/W2119312651","https://openalex.org/W2109003837","https://openalex.org/W2119963650"],"abstract_inverted_index":{"This":[0,89],"article":[1],"designs":[2],"a":[3,9,20,32,37,54],"model-free":[4,56],"control":[5,15,57,65,108,131],"scheme":[6,58,90,132],"based":[7],"on":[8],"cerebellum-inspired":[10,55,130],"network":[11,99],"model":[12,85],"for":[13,59,119],"tracking":[14,64,138],"and":[16,36,63,96,110,123],"visual":[17,61,147],"servoing":[18,62,148],"of":[19,31,66,73,86],"surgical":[21],"rigid-flexible":[22],"hybrid":[23,27],"robotic":[24,68],"endoscope.":[25],"The":[26],"robot":[28,34],"is":[29,104,113,133],"composed":[30],"rigid":[33],"manipulator":[35],"flexible":[38],"endoscope":[39,69],"as":[40,115,143,145],"the":[41,45,60,67,83,87,102,111,116,120,128,137,146],"end-effector.":[42],"Inspired":[43],"by":[44],"cerebellum":[46],"associated":[47],"with":[48,70],"human":[49],"motion":[50,74],"control,":[51],"we":[52],"proposed":[53,129],"remote":[71],"center":[72],"(RCM)":[75],"constraints,":[76],"which":[77],"does":[78],"not":[79],"need":[80],"to":[81,106,135],"know":[82],"kinematic":[84],"robot.":[88],"combines":[91],"liquid":[92],"state":[93],"machines":[94],"(LSMs)":[95],"zeroing":[97],"neural":[98],"(ZNN),":[100],"where":[101],"LSM":[103],"able":[105],"generate":[107],"signals":[109],"ZNN":[112],"used":[114],"training":[117],"signal":[118],"LSM.":[121],"Simulations":[122],"physical":[124],"experiments":[125],"demonstrate":[126],"that":[127],"effective":[134],"handle":[136],"task":[139],"under":[140],"RCM":[141],"constraints":[142],"well":[144],"task.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
