{"id":"https://openalex.org/W2549165056","doi":"https://doi.org/10.1109/urai.2016.7734077","title":"Control strategy of in-pipe robot passing through elbow","display_name":"Control strategy of in-pipe robot passing through elbow","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2549165056","doi":"https://doi.org/10.1109/urai.2016.7734077","mag":"2549165056"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2016.7734077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2016.7734077","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-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/A5072839053","display_name":"Yoon Geon Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yoon Geon Lee","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Jongno-gu, Seoul, KR"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Jongno-gu, Seoul, KR","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028696361","display_name":"Ho Moon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ho Moon Kim","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003798339","display_name":"Yun Seok Choi","orcid":"https://orcid.org/0000-0002-7075-8277"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yun Seok Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069359057","display_name":"Heesik Jang","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heesik Jang","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5072839053"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":0.3419,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64400197,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"442","last_page":"443"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9958000183105469,"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":0.9958000183105469,"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":0.9926999807357788,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.953499972820282,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/robot","display_name":"Robot","score":0.6832867860794067},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6442727446556091},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.6262025237083435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5759816765785217},{"id":"https://openalex.org/keywords/articulated-robot","display_name":"Articulated robot","score":0.5321254730224609},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48666149377822876},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48591962456703186},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.48555538058280945},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.46818673610687256},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.46594297885894775},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.428882896900177},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4057345390319824},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3835342228412628},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3784593343734741},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36764001846313477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23739081621170044},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09540492296218872},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07690832018852234},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.053406983613967896}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6832867860794067},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6442727446556091},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.6262025237083435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5759816765785217},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.5321254730224609},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48666149377822876},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48591962456703186},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.48555538058280945},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.46818673610687256},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.46594297885894775},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.428882896900177},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4057345390319824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3835342228412628},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3784593343734741},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36764001846313477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23739081621170044},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09540492296218872},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07690832018852234},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.053406983613967896},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2016.7734077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2016.7734077","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2101225852","https://openalex.org/W2199615605","https://openalex.org/W2217566337","https://openalex.org/W6675177578","https://openalex.org/W6688759762"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W1541472850","https://openalex.org/W4317826762","https://openalex.org/W806709805","https://openalex.org/W2521175729","https://openalex.org/W2086863125","https://openalex.org/W3004220142","https://openalex.org/W2997199187","https://openalex.org/W2053355495","https://openalex.org/W4242231179"],"abstract_inverted_index":{"In":[0,25],"this":[1],"paper,":[2],"the":[3,12,19,22,30,52,56,64,68,73],"control":[4,33],"strategy":[5,34],"was":[6,28,61],"proposed":[7,69],"to":[8,17,35,49],"take":[9],"advantage":[10],"of":[11,14,21,42,58],"2-DOF(Degree":[13],"Freedom)joint":[15],"module":[16,32,44],"improve":[18],"mobility":[20],"in-pipe":[23],"robot.":[24],"particular,":[26],"it":[27],"described":[29],"joint":[31,43],"simply":[36],"pass":[37,66],"through":[38,67],"elbow.":[39],"The":[40],"angles":[41],"are":[45],"controlled":[46],"throughout":[47,72],"4-step":[48],"track":[50],"for":[51],"robot":[53,65],"component":[54],"on":[55],"centerline":[57],"pipe.":[59],"It":[60],"confirmed":[62],"that":[63],"simple":[70],"path":[71],"expriments.":[74]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}