{"id":"https://openalex.org/W2050330128","doi":"https://doi.org/10.1109/tsmc.1981.4308640","title":"An Orienting Robot for Feeding Workpieces Stored in Bins","display_name":"An Orienting Robot for Feeding Workpieces Stored in Bins","publication_year":1981,"publication_date":"1981-01-01","ids":{"openalex":"https://openalex.org/W2050330128","doi":"https://doi.org/10.1109/tsmc.1981.4308640","mag":"2050330128"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.1981.4308640","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.1981.4308640","pdf_url":null,"source":{"id":"https://openalex.org/S76152103","display_name":"IEEE Transactions on Systems Man and Cybernetics","issn_l":"0018-9472","issn":["0018-9472","2168-2909"],"is_oa":false,"is_in_doaj":false,"is_core":false,"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 Systems, Man, and Cybernetics","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/A5072746533","display_name":"John R. Birk","orcid":null},"institutions":[{"id":"https://openalex.org/I17626003","display_name":"University of Rhode Island","ror":"https://ror.org/013ckk937","country_code":"US","type":"education","lineage":["https://openalex.org/I17626003"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"John R. Birk","raw_affiliation_strings":["Department of Electrical Engineering, University of Rhode Island, Kingston, RI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Rhode Island, Kingston, RI, USA","institution_ids":["https://openalex.org/I17626003"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007770341","display_name":"Robert B. Kelley","orcid":null},"institutions":[{"id":"https://openalex.org/I17626003","display_name":"University of Rhode Island","ror":"https://ror.org/013ckk937","country_code":"US","type":"education","lineage":["https://openalex.org/I17626003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert B. Kelley","raw_affiliation_strings":["Department of Electrical Engineering, University of Rhode Island, Kingston, RI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Rhode Island, Kingston, RI, USA","institution_ids":["https://openalex.org/I17626003"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036689525","display_name":"Henrique A. S. Martins","orcid":"https://orcid.org/0009-0000-5421-0124"},"institutions":[{"id":"https://openalex.org/I17626003","display_name":"University of Rhode Island","ror":"https://ror.org/013ckk937","country_code":"US","type":"education","lineage":["https://openalex.org/I17626003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Henrique A. S. Martins","raw_affiliation_strings":["Department of Electrical Engineering, University of Rhode Island, Kingston, RI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Rhode Island, Kingston, RI, USA","institution_ids":["https://openalex.org/I17626003"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072746533"],"corresponding_institution_ids":["https://openalex.org/I17626003"],"apc_list":null,"apc_paid":null,"fwci":8.2309,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.97339782,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"11","issue":"2","first_page":"151","last_page":"160"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976000189781189,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9916999936103821,"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/orientation","display_name":"Orientation (vector space)","score":0.700241208076477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6893172264099121},{"id":"https://openalex.org/keywords/bin","display_name":"Bin","score":0.6303601264953613},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6004558205604553},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5424543023109436},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5317893028259277},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5072628855705261},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4749336838722229},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.471646249294281},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4526616334915161},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4311392605304718},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3753593862056732},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3504830598831177},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.350441575050354},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2696276903152466},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14304444193840027},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10988834500312805}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.700241208076477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6893172264099121},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.6303601264953613},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6004558205604553},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5424543023109436},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5317893028259277},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5072628855705261},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4749336838722229},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.471646249294281},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4526616334915161},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4311392605304718},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3753593862056732},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3504830598831177},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.350441575050354},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2696276903152466},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14304444193840027},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10988834500312805},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.1981.4308640","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.1981.4308640","pdf_url":null,"source":{"id":"https://openalex.org/S76152103","display_name":"IEEE Transactions on Systems Man and Cybernetics","issn_l":"0018-9472","issn":["0018-9472","2168-2909"],"is_oa":false,"is_in_doaj":false,"is_core":false,"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 Systems, Man, and Cybernetics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W89287289","https://openalex.org/W119690928","https://openalex.org/W182254979","https://openalex.org/W1558331200","https://openalex.org/W1953654329","https://openalex.org/W1980065040","https://openalex.org/W1993324373","https://openalex.org/W2009389611","https://openalex.org/W2018469774","https://openalex.org/W2024768049","https://openalex.org/W2034840692","https://openalex.org/W2048914355","https://openalex.org/W2066239947","https://openalex.org/W2069225252","https://openalex.org/W2071537693","https://openalex.org/W2077027037","https://openalex.org/W2119662440","https://openalex.org/W3006067270","https://openalex.org/W6603547703","https://openalex.org/W6604894291","https://openalex.org/W6607401441"],"related_works":["https://openalex.org/W2107701374","https://openalex.org/W2950072893","https://openalex.org/W1616588898","https://openalex.org/W4249504934","https://openalex.org/W2183416055","https://openalex.org/W2568867011","https://openalex.org/W1963628591","https://openalex.org/W1994114538","https://openalex.org/W2413205705","https://openalex.org/W2735644334"],"abstract_inverted_index":{"A":[0,47,72],"robot":[1,35,57,186],"system":[2],"has":[3,36],"been":[4,59,95],"tested":[5],"which":[6,41,75,83,164,177,187],"can":[7,133],"acquire":[8],"a":[9,23,26,141,162,166,171,192],"class":[10],"of":[11,34,49,54,87,103,108,114,143,151,170,174,194,203],"workpieces":[12,110,124],"that":[13],"are":[14,130],"unoriented":[15],"in":[16,39,45,90,125,168],"bins":[17],"and":[18,65,80,106,176],"transport":[19],"them,":[20],"one":[21,169],"at":[22],"time,":[24],"to":[25,51,77,97,157,160,190],"destination":[27],"with":[28,123,200],"the":[29,52,85,91,104,109,112,115,126,138,149,181],"proper":[30],"orientation.":[31],"This":[32],"kind":[33],"numerous":[37],"applications":[38],"industries":[40],"manufacture":[42],"discrete-part":[43],"products":[44],"batches.":[46],"variety":[48,193],"approaches":[50],"design":[53,64],"an":[55,81,99,184,198],"orienting":[56,185],"have":[58,94],"identified.":[60],"For":[61,183],"acquisition,":[62],"gripper":[63,74,139,163],"vision":[66],"algorithms":[67],"should":[68],"be":[69,134,158],"considered":[70],"together.":[71],"vacuum":[73],"adapts":[76],"surface":[78],"angle":[79],"algorithm":[82],"finds":[84],"center":[86],"smooth":[88],"regions":[89],"bin":[92,116,127],"image":[93],"shown":[96],"form":[98],"effective":[100],"combination.":[101],"Knowledge":[102],"position":[105],"orientation":[107],"near":[111],"top":[113],"is":[117,188],"not":[118,131,179],"necessary":[119],"for":[120],"acquisition.":[121],"Collisions":[122],"whose":[128],"poses":[129],"known":[132],"avoided":[135],"by":[136],"having":[137],"follow":[140],"line":[142],"sight":[144],"approach":[145],"path.":[146],"To":[147],"simplify":[148],"computation":[150],"workpiece":[152,167,207],"orientation,":[153],"it":[154],"was":[155],"found":[156],"useful":[159],"employ":[161],"locked":[165],"finite":[172],"number":[173],"states":[175],"did":[178],"obscure":[180],"workpiece.":[182],"designed":[189],"service":[191],"different":[195],"workpieces,":[196],"using":[197],"arm":[199],"six":[201],"degrees":[202],"freedom":[204],"greatly":[205],"facilitates":[206],"transportation.":[208]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}