{"id":"https://openalex.org/W4367665750","doi":"https://doi.org/10.1109/tie.2023.3270505","title":"Edge-Enabled Adaptive Shape Estimation of 3-D Printed Soft Actuators With Gaussian Processes and Unscented Kalman Filters","display_name":"Edge-Enabled Adaptive Shape Estimation of 3-D Printed Soft Actuators With Gaussian Processes and Unscented Kalman Filters","publication_year":2023,"publication_date":"2023-05-01","ids":{"openalex":"https://openalex.org/W4367665750","doi":"https://doi.org/10.1109/tie.2023.3270505"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3270505","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2023.3270505","pdf_url":"https://ieeexplore.ieee.org/ielx7/41/4387790/10113847.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/41/4387790/10113847.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054869391","display_name":"Kaige Tan","orcid":"https://orcid.org/0000-0003-4535-3849"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Kaige Tan","raw_affiliation_strings":["Department of Machine Design, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-4535-3849","affiliations":[{"raw_affiliation_string":"Department of Machine Design, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073878710","display_name":"Qinglei Ji","orcid":"https://orcid.org/0000-0001-9221-0918"},"institutions":[{"id":"https://openalex.org/I1340210623","display_name":"Volvo (Sweden)","ror":"https://ror.org/05b6ypc36","country_code":"SE","type":"company","lineage":["https://openalex.org/I1340210623"]},{"id":"https://openalex.org/I4387153628","display_name":"Volvo Cars (Sweden)","ror":"https://ror.org/005n5zv88","country_code":null,"type":"company","lineage":["https://openalex.org/I4210153393","https://openalex.org/I4387153628"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Qinglei Ji","raw_affiliation_strings":["Department of Production Engineering and the Department of Machine Design, KTH Royal Institute of Technology, Stockholm, Sweden","Volvo Cars Corporation, Gothenburg, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-9221-0918","affiliations":[{"raw_affiliation_string":"Department of Production Engineering and the Department of Machine Design, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Volvo Cars Corporation, Gothenburg, Sweden","institution_ids":["https://openalex.org/I1340210623","https://openalex.org/I4387153628"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054955661","display_name":"Lei Feng","orcid":"https://orcid.org/0000-0001-5703-5923"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Lei Feng","raw_affiliation_strings":["Department of Machine Design, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-5703-5923","affiliations":[{"raw_affiliation_string":"Department of Machine Design, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065527926","display_name":"Martin T\u00f6rngren","orcid":"https://orcid.org/0000-0002-4300-885X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Martin T\u00f6rngren","raw_affiliation_strings":["Department of Machine Design, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-4300-885X","affiliations":[{"raw_affiliation_string":"Department of Machine Design, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":{"value":1156,"currency":"EUR","value_usd":1246},"fwci":0.8201,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.68199924,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"71","issue":"3","first_page":"3044","last_page":"3054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9968000054359436,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9968000054359436,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958999752998352,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/kalman-filter","display_name":"Kalman filter","score":0.8234278559684753},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5496439337730408},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.512395441532135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4897182285785675},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.45325571298599243},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4387476146221161},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.43152710795402527},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3519662022590637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3445603847503662},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10303419828414917}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8234278559684753},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5496439337730408},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.512395441532135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4897182285785675},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.45325571298599243},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4387476146221161},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.43152710795402527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3519662022590637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3445603847503662},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10303419828414917},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3270505","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2023.3270505","pdf_url":"https://ieeexplore.ieee.org/ielx7/41/4387790/10113847.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tie.2023.3270505","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2023.3270505","pdf_url":"https://ieeexplore.ieee.org/ielx7/41/4387790/10113847.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4367665750.pdf","grobid_xml":"https://content.openalex.org/works/W4367665750.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1549644356","https://openalex.org/W1749494163","https://openalex.org/W2018705428","https://openalex.org/W2105945651","https://openalex.org/W2336416123","https://openalex.org/W2586782891","https://openalex.org/W2610150749","https://openalex.org/W2770049904","https://openalex.org/W2801458905","https://openalex.org/W2890934178","https://openalex.org/W2891946949","https://openalex.org/W2911001812","https://openalex.org/W2951954442","https://openalex.org/W2997268665","https://openalex.org/W3000559819","https://openalex.org/W3004757868","https://openalex.org/W3005783773","https://openalex.org/W3016793351","https://openalex.org/W3023458519","https://openalex.org/W3048151196","https://openalex.org/W3088555471","https://openalex.org/W3092598375","https://openalex.org/W3092639605","https://openalex.org/W3107524248","https://openalex.org/W3112002478","https://openalex.org/W3138834873","https://openalex.org/W3154357606","https://openalex.org/W4205918754","https://openalex.org/W4211049957","https://openalex.org/W4226536539","https://openalex.org/W4285149518","https://openalex.org/W4285245702","https://openalex.org/W4363672678"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2169474978","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W1964286703","https://openalex.org/W2169866437"],"abstract_inverted_index":{"Soft":[0,28],"actuators":[1,21],"have":[2],"the":[3,15,19,42,66,83,86,94,99,109,122,131,145,157,170],"advantages":[4],"of":[5,18,31,45,85,144],"compliance":[6],"and":[7,34,54,59,82,98,173,185],"adaptability":[8],"when":[9],"working":[10],"with":[11],"vulnerable":[12],"objects,":[13],"but":[14,48],"deformation":[16],"shape":[17,43,67],"soft":[20,46,70,95,100],"is":[22,63,89,119,148],"difficult":[23],"to":[24,41,121,168,189],"measure":[25],"or":[26],"estimate.":[27],"sensors":[29],"made":[30],"highly":[32,51],"flexible":[33],"responsive":[35],"materials":[36],"are":[37],"promising":[38],"new":[39],"approaches":[40],"estimation":[44,68,74,87,134,183],"actuators,":[47],"suffer":[49],"from":[50,69],"nonlinear,":[52],"hysteresis,":[53],"time-variant":[55],"properties.":[56],"A":[57],"nonlinear":[58,79],"adaptive":[60],"state":[61,73,133],"observer":[62],"essential":[64],"for":[65,125],"sensors.":[71],"Current":[72],"methods":[75,88],"rely":[76],"on":[77],"complex":[78],"data-fitting":[80],"models,":[81],"robustness":[84],"questionable.":[90],"This":[91],"study":[92],"investigates":[93],"actuator":[96],"dynamics":[97],"sensor":[101],"model":[102,124,147],"as":[103],"a":[104,141,179],"stochastic":[105],"process":[106,135],"characterized":[107],"by":[108],"Gaussian":[110],"Process":[111],"(GP)":[112],"model.":[113],"The":[114,176],"unscented":[115],"Kalman":[116],"filter":[117],"(UKF)":[118],"applied":[120],"GP":[123,146],"more":[126],"reliable":[127],"variance":[128],"adjustment":[129],"during":[130,152],"sequential":[132],"than":[136],"conventional":[137],"methods.":[138,191],"In":[139],"addition,":[140],"major":[142],"limitation":[143],"its":[149],"computational":[150,172],"complexity":[151],"online":[153],"inference.":[154],"To":[155],"improve":[156],"real-time":[158,186],"performance":[159,187],"while":[160],"guaranteeing":[161],"accuracy,":[162],"we":[163],"introduce":[164],"an":[165],"edge":[166],"server":[167],"decrease":[169],"onboard":[171],"memory":[174],"overhead.":[175],"experiments":[177],"showcase":[178],"significant":[180],"improvement":[181],"in":[182],"accuracy":[184],"compared":[188],"baseline":[190]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}