{"id":"https://openalex.org/W3207588894","doi":"https://doi.org/10.1109/tro.2022.3183532","title":"Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework","display_name":"Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework","publication_year":2022,"publication_date":"2022-07-01","ids":{"openalex":"https://openalex.org/W3207588894","doi":"https://doi.org/10.1109/tro.2022.3183532","mag":"3207588894"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3183532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3183532","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.rug.nl/en/publications/d2a4af6d-706b-4f02-9e12-f4ec3bfb9976","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069300372","display_name":"Ramy Rashad","orcid":"https://orcid.org/0000-0002-9083-0504"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Ramy Rashad","raw_affiliation_strings":["Robotics and Mechatronics group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-9083-0504","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011086011","display_name":"Davide Bicego","orcid":"https://orcid.org/0000-0002-3423-0969"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Davide Bicego","raw_affiliation_strings":["Robotics and Mechatronics group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-3423-0969","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014011506","display_name":"Jelle Zult","orcid":"https://orcid.org/0000-0002-4109-706X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jelle Zult","raw_affiliation_strings":["Bond High Performance 3D Technology, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-4109-706X","affiliations":[{"raw_affiliation_string":"Bond High Performance 3D Technology, Enschede, The Netherlands","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016501288","display_name":"Santiago Sanchez-Escalonilla","orcid":null},"institutions":[{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Santiago Sanchez-Escalonilla","raw_affiliation_strings":["Faculty of Science and Engineering, University of Groningen, Groningen, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, University of Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076861802","display_name":"Ran Jiao","orcid":"https://orcid.org/0000-0003-0067-6679"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Jiao","raw_affiliation_strings":["Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Antonio Franchi","raw_affiliation_strings":["Robotics and Mechatronics group, University of Twente, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-5670-1282","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics group, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047812798","display_name":"Stefano Stramigioli","orcid":"https://orcid.org/0000-0001-8212-7387"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]},{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL","RU"],"is_corresponding":false,"raw_author_name":"Stefano Stramigioli","raw_affiliation_strings":["Robotics and Mechatronics group, University of Twente, Enschede, The Netherlands","ITMO University, Saint Petersburg, Russia"],"raw_orcid":"https://orcid.org/0000-0001-8212-7387","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics group, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5069300372"],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":null,"apc_paid":null,"fwci":4.2468,"has_fulltext":true,"cited_by_count":38,"citation_normalized_percentile":{"value":0.94471803,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"38","issue":"6","first_page":"3936","last_page":"3955"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9993000030517578,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9993000030517578,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9847000241279602,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9693999886512756,"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/passivity","display_name":"Passivity","score":0.7798315286636353},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5983192920684814},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.5702347755432129},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5304310321807861},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5296825170516968},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5162068009376526},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4744057357311249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4317486584186554},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4144092798233032},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22122514247894287},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16736742854118347},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09592181444168091}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7798315286636353},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5983192920684814},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.5702347755432129},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5304310321807861},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5296825170516968},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5162068009376526},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4744057357311249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4317486584186554},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4144092798233032},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22122514247894287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16736742854118347},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09592181444168091},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2022.3183532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3183532","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:pure.rug.nl:openaire/d2a4af6d-706b-4f02-9e12-f4ec3bfb9976","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/d2a4af6d-706b-4f02-9e12-f4ec3bfb9976","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Rashad, R, Bicego, D, Zult, J, Sanchez-Escalonilla, S, Jiao, R, Franchi, A & Stramigioli, S 2022, 'Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework', IEEE Transactions on Robotics, vol. 38, no. 6, pp. 3936-3955. https://doi.org/10.1109/TRO.2022.3183532","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:ris.utwente.nl:publications/833b7810-e29c-464c-b454-7f6f275f7858","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/833b7810-e29c-464c-b454-7f6f275f7858","pdf_url":"https://ris.utwente.nl/ws/files/255689580/2021_EnergyAwareImpedControl_Preprint.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rashad, R, Bicego, D, Zult, J, Sanchez-Escalonilla, S, Jiao, R, Franchi, A & Stramigioli, S 2022, 'Energy Aware Impedance Control of a Flying End-effector in the Port-Hamiltonian Framework', IEEE transactions on robotics, vol. 38, no. 6, 9813358, pp. 3936-3955. https://doi.org/10.1109/TRO.2022.3183532","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:iris.uniroma1.it:11573/1688352","is_oa":false,"landing_page_url":"https://hdl.handle.net/11573/1688352","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:pure.rug.nl:openaire/d2a4af6d-706b-4f02-9e12-f4ec3bfb9976","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/d2a4af6d-706b-4f02-9e12-f4ec3bfb9976","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Rashad, R, Bicego, D, Zult, J, Sanchez-Escalonilla, S, Jiao, R, Franchi, A & Stramigioli, S 2022, 'Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework', IEEE Transactions on Robotics, vol. 38, no. 6, pp. 3936-3955. https://doi.org/10.1109/TRO.2022.3183532","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"score":0.8899999856948853,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2781027517","display_name":null,"funder_award_id":"143081","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G545549171","display_name":null,"funder_award_id":"143081","funder_id":"https://openalex.org/F4320337753","funder_display_name":"Interreg"},{"id":"https://openalex.org/G601918449","display_name":null,"funder_award_id":"871479","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6098314934","display_name":"Decoding the Nature of Flapping Flight by port-Hamiltonian System Theory","funder_award_id":"787675","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320337753","display_name":"Interreg","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1541193115","https://openalex.org/W1541925238","https://openalex.org/W1564897360","https://openalex.org/W1967377907","https://openalex.org/W1980330256","https://openalex.org/W2017239762","https://openalex.org/W2042092414","https://openalex.org/W2048270103","https://openalex.org/W2057538835","https://openalex.org/W2086739042","https://openalex.org/W2093626735","https://openalex.org/W2107799372","https://openalex.org/W2109656638","https://openalex.org/W2110047814","https://openalex.org/W2115602714","https://openalex.org/W2131292439","https://openalex.org/W2146794336","https://openalex.org/W2149085596","https://openalex.org/W2162427234","https://openalex.org/W2296039882","https://openalex.org/W2300435054","https://openalex.org/W2462637913","https://openalex.org/W2465948386","https://openalex.org/W2564855576","https://openalex.org/W2762764329","https://openalex.org/W2786369902","https://openalex.org/W2789696912","https://openalex.org/W2792083172","https://openalex.org/W2810622842","https://openalex.org/W2885923137","https://openalex.org/W2891005336","https://openalex.org/W2954055669","https://openalex.org/W2966182590","https://openalex.org/W2966945592","https://openalex.org/W2994887143","https://openalex.org/W3004656347","https://openalex.org/W3012879162","https://openalex.org/W3106671242","https://openalex.org/W3129242985","https://openalex.org/W4214690803","https://openalex.org/W4226453383","https://openalex.org/W4247881926","https://openalex.org/W4250391287","https://openalex.org/W6786595320","https://openalex.org/W7074114782"],"related_works":["https://openalex.org/W2067759762","https://openalex.org/W4205162136","https://openalex.org/W4239268637","https://openalex.org/W2059529748","https://openalex.org/W813487984","https://openalex.org/W2501112123","https://openalex.org/W1977819874","https://openalex.org/W3131110707","https://openalex.org/W2716370379","https://openalex.org/W3142828847"],"abstract_inverted_index":{"This":[0],"work":[1],"addresses":[2],"the":[3,20,33,40,43,49,59,86,91,94,110,115,126,151],"interaction":[4,76],"control":[5,27,44,88],"problem":[6,21],"of":[7,35,61,85,93,107,112,135],"a":[8,15,78,105,158],"fully":[9],"actuated":[10],"aerial":[11,74,95,161],"vehicle":[12],"considered":[13],"as":[14],"flying":[16],"end-effector.":[17],"We":[18,53,144],"tackle":[19],"using":[22,32],"geometrically":[23],"consistent":[24],"variable-stiffness":[25],"impedance":[26],"for":[28,70],"safe":[29],"wrench":[30],"regulation":[31],"concept":[34],"energy":[36],"tanks,":[37],"where":[38],"both":[39,98],"modeling":[41],"and":[42,64,72,100],"are":[45],"carried":[46],"out":[47],"in":[48,58,97,109],"port":[50],"Hamiltonian":[51],"framework.":[52],"exploit":[54],"previous":[55],"well-known":[56],"results":[57],"literature":[60],"ground":[62],"manipulators":[63],"extend":[65],"them":[66],"to":[67,157],"be":[68,130,155],"applied":[69],"novel":[71],"challenging":[73],"physical":[75,162],"with":[77,104,114],"focus":[79],"on":[80,149],"quasi-static":[81],"applications.":[82],"The":[83,133],"energy-awareness":[84],"presented":[87],"method":[89],"guarantees":[90],"stability":[92],"robot":[96],"free-flight":[99],"in-contact":[101],"scenarios":[102],"together":[103],"level":[106],"safety":[108],"case":[111],"contact-loss":[113],"unknown":[116],"environment.":[117],"Furthermore,":[118],"by":[119],"utilizing":[120],"bond":[121],"graphs":[122],"we":[123],"demonstrate":[124],"how":[125,150],"closed-loop":[127],"passivity":[128],"can":[129],"graphically":[131],"conducted.":[132],"validity":[134],"our":[136],"proposed":[137,152],"approach":[138],"is":[139],"shown":[140],"via":[141],"several":[142,147],"experiments.":[143],"also":[145],"provide":[146],"insights":[148],"framework":[153],"could":[154],"extended":[156],"generic":[159],"dynamic":[160],"interaction.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-06T09:05:17.133730","created_date":"2025-10-10T00:00:00"}