{"id":"https://openalex.org/W3137240333","doi":"https://doi.org/10.1109/tim.2021.3066542","title":"Semantic-Enhanced Digital Twin System for Robot\u2013Environment Interaction Monitoring","display_name":"Semantic-Enhanced Digital Twin System for Robot\u2013Environment Interaction Monitoring","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3137240333","doi":"https://doi.org/10.1109/tim.2021.3066542","mag":"3137240333"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3066542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3066542","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5100353701","display_name":"Xin Li","orcid":"https://orcid.org/0000-0001-6003-7719"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xin Li","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049557511","display_name":"Bin He","orcid":"https://orcid.org/0000-0003-3193-6269"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin He","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424178","display_name":"Zhipeng Wang","orcid":"https://orcid.org/0000-0003-4632-9170"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhipeng Wang","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032983330","display_name":"Yanmin Zhou","orcid":"https://orcid.org/0000-0001-7824-1179"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanmin Zhou","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100762010","display_name":"Gang Li","orcid":"https://orcid.org/0000-0003-3141-4428"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Li","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102022958","display_name":"Rong Jiang","orcid":"https://orcid.org/0000-0001-9908-7617"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Jiang","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100353701"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":6.0787,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.96582891,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"70","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10763","display_name":"Digital Transformation in Industry","score":0.9975000023841858,"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"}},"topics":[{"id":"https://openalex.org/T10763","display_name":"Digital Transformation in Industry","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9860000014305115,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9319999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7662711143493652},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5749772787094116},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.562206506729126},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5443737506866455},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4809629023075104},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4337741732597351},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4309568405151367},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4176110029220581},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.4129788279533386},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4028334319591522},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32816094160079956},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.16704609990119934},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.098165363073349}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7662711143493652},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5749772787094116},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.562206506729126},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5443737506866455},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4809629023075104},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4337741732597351},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4309568405151367},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4176110029220581},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.4129788279533386},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4028334319591522},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32816094160079956},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.16704609990119934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.098165363073349},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2021.3066542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3066542","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2552637886","display_name":null,"funder_award_id":"61825303","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G265281365","display_name":null,"funder_award_id":"61801330","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2701178210","display_name":null,"funder_award_id":"62073244","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4456576707","display_name":null,"funder_award_id":"U1713215","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6903526350","display_name":null,"funder_award_id":"51975415","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7719261434","display_name":null,"funder_award_id":"2020AAA0108905","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1547225229","https://openalex.org/W1964665331","https://openalex.org/W2017280345","https://openalex.org/W2045225768","https://openalex.org/W2046074714","https://openalex.org/W2047355416","https://openalex.org/W2049981393","https://openalex.org/W2050013274","https://openalex.org/W2098201806","https://openalex.org/W2106021820","https://openalex.org/W2121878633","https://openalex.org/W2221547360","https://openalex.org/W2485010323","https://openalex.org/W2607855566","https://openalex.org/W2736791688","https://openalex.org/W2744820619","https://openalex.org/W2755214325","https://openalex.org/W2765598251","https://openalex.org/W2767001758","https://openalex.org/W2794230447","https://openalex.org/W2804780212","https://openalex.org/W2806878106","https://openalex.org/W2887322826","https://openalex.org/W2896580166","https://openalex.org/W2901218960","https://openalex.org/W2904138018","https://openalex.org/W2910597635","https://openalex.org/W2911537418","https://openalex.org/W2912236723","https://openalex.org/W2936666060","https://openalex.org/W2946846990","https://openalex.org/W2962737505","https://openalex.org/W2963536419","https://openalex.org/W2964248288","https://openalex.org/W2968572862","https://openalex.org/W2972160586","https://openalex.org/W2980446850","https://openalex.org/W2981528363","https://openalex.org/W2983726051","https://openalex.org/W2998412969","https://openalex.org/W3021321491","https://openalex.org/W3031534555","https://openalex.org/W3033090297","https://openalex.org/W3035017890","https://openalex.org/W3044001809","https://openalex.org/W3075134243","https://openalex.org/W3091891999","https://openalex.org/W3093380613","https://openalex.org/W6755750210"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2967463586","https://openalex.org/W2074679142","https://openalex.org/W2765830098","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W3157641275","https://openalex.org/W4312300846","https://openalex.org/W2104042711","https://openalex.org/W4206221578"],"abstract_inverted_index":{"In":[0,88,134],"order":[1],"to":[2,25,71,106],"implement":[3],"more":[4],"accurate":[5],"and":[6,28,37,47,68,77,82,98,166,175,185],"fine-grained":[7],"monitoring":[8,46,171],"of":[9,21,40,85,122,151,187],"robot-environment":[10],"interaction":[11],"(REI)":[12],"in":[13,160,172],"real":[14,74,86,124,173],"time,":[15],"this":[16],"article":[17],"extends":[18],"the":[19,80,108,116,120,126,137,156,167,180,183],"concept":[20],"digital":[22],"twin":[23],"(DT)":[24],"REI":[26],"description":[27],"proposes":[29],"a":[30,55,73,92,100,123,148,161],"novel":[31],"semantic-enhanced":[32],"DT":[33,117],"system":[34,170],"with":[35,51,61,119,130,142],"exteroceptive":[36],"proprioceptive":[38],"modalities":[39],"robots":[41],"as":[42],"mechanisms":[43],"for":[44,169],"states":[45],"semantics":[48],"inference":[49],"associated":[50],"interactions.":[52],"We":[53],"create":[54],"3-D":[56],"generic":[57],"graphic":[58],"model":[59,127],"embedded":[60],"contact":[62],"dynamics":[63],"based":[64],"on":[65,155],"domain":[66],"descriptions":[67],"sensor":[69],"data":[70,104],"mirror":[72],"interactive":[75,131],"scene":[76,163],"simultaneously":[78],"extract":[79],"appearance":[81],"physical":[83],"properties":[84],"entities.":[87],"addition,":[89],"we":[90],"present":[91],"multifeature":[93],"fused":[94],"visual":[95,109],"relations":[96],"detector":[97],"introduce":[99],"lightweight":[101],"spatial":[102],"relation":[103],"set":[105],"measure":[107],"relationships":[110],"between":[111],"entity":[112],"pairs.":[113],"To":[114],"keep":[115],"consistent":[118],"response":[121],"system,":[125,136],"is":[128,140],"updated":[129],"subprocess-triggered":[132],"control.":[133],"our":[135,188],"whole":[138],"framework":[139],"developed":[141],"virtual":[143],"reality":[144],"techniques,":[145],"which":[146],"provides":[147],"high":[149],"degree":[150],"observability.":[152],"The":[153],"experiments":[154],"objects":[157],"sorting":[158],"task":[159],"kitchen":[162],"are":[164,178],"conducted,":[165],"abilities":[168],"time":[174],"semantic":[176],"reasoning":[177],"evaluated;":[179],"results":[181],"demonstrate":[182],"effectiveness":[184],"feasibility":[186],"proposal.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
