{"id":"https://openalex.org/W2103065821","doi":"https://doi.org/10.1109/sysose.2013.6575264","title":"Test and validation of the Mars Science Laboratory Robotic Arm","display_name":"Test and validation of the Mars Science Laboratory Robotic Arm","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2103065821","doi":"https://doi.org/10.1109/sysose.2013.6575264","mag":"2103065821"},"language":"en","primary_location":{"id":"doi:10.1109/sysose.2013.6575264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sysose.2013.6575264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 8th International Conference on System of Systems Engineering","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/A5021695061","display_name":"M. Robinson","orcid":"https://orcid.org/0009-0007-8108-5868"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"M. Robinson","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110099783","display_name":"Carol Collins","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Collins","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108513538","display_name":"Patrick C. Leger","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Leger","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072194738","display_name":"W. Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"W. Kim","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109809255","display_name":"J. Carsten","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Carsten","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044358987","display_name":"V. V. Tompkins","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"V. Tompkins","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002070194","display_name":"A. Trebi\u2010Ollennu","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Trebi-Ollennu","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036336159","display_name":"Brandon Florow","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Florow","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5021695061"],"corresponding_institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":1.0872,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.80954408,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"184","last_page":"189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9873999953269958,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9818000197410583,"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/mars-exploration-program","display_name":"Mars Exploration Program","score":0.8257349729537964},{"id":"https://openalex.org/keywords/exploration-of-mars","display_name":"Exploration of Mars","score":0.5952168703079224},{"id":"https://openalex.org/keywords/scientific-instrument","display_name":"Scientific instrument","score":0.5534350275993347},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5401045680046082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5305467247962952},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5252929329872131},{"id":"https://openalex.org/keywords/martian-surface","display_name":"Martian surface","score":0.47158753871917725},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4457627832889557},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42276692390441895},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3981902301311493},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3979089558124542},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3668094277381897},{"id":"https://openalex.org/keywords/martian","display_name":"Martian","score":0.3569580912590027},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.310386061668396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2706533670425415},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2592550814151764},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.24213054776191711},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09518668055534363}],"concepts":[{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.8257349729537964},{"id":"https://openalex.org/C68702407","wikidata":"https://www.wikidata.org/wiki/Q716774","display_name":"Exploration of Mars","level":3,"score":0.5952168703079224},{"id":"https://openalex.org/C207520454","wikidata":"https://www.wikidata.org/wiki/Q3099911","display_name":"Scientific instrument","level":2,"score":0.5534350275993347},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5401045680046082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5305467247962952},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5252929329872131},{"id":"https://openalex.org/C2776219924","wikidata":"https://www.wikidata.org/wiki/Q6774740","display_name":"Martian surface","level":4,"score":0.47158753871917725},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4457627832889557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42276692390441895},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3981902301311493},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3979089558124542},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3668094277381897},{"id":"https://openalex.org/C2778600265","wikidata":"https://www.wikidata.org/wiki/Q913850","display_name":"Martian","level":3,"score":0.3569580912590027},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.310386061668396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2706533670425415},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2592550814151764},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.24213054776191711},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09518668055534363},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sysose.2013.6575264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sysose.2013.6575264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 8th International Conference on System of Systems Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1583205504","https://openalex.org/W2067707405","https://openalex.org/W2086919542","https://openalex.org/W2123245438","https://openalex.org/W2146066669","https://openalex.org/W2152103122"],"related_works":["https://openalex.org/W2079567089","https://openalex.org/W1500757811","https://openalex.org/W1970457476","https://openalex.org/W4361269125","https://openalex.org/W2007080654","https://openalex.org/W4235371199","https://openalex.org/W1666463933","https://openalex.org/W2028175322","https://openalex.org/W3149160274","https://openalex.org/W4292622938"],"abstract_inverted_index":{"The":[0,20],"Mars":[1,103],"Science":[2],"Laboratory":[3],"Robotic":[4],"Arm":[5],"(RA)":[6],"is":[7],"a":[8,28,36,53,60,125],"key":[9],"component":[10],"for":[11],"achieving":[12],"the":[13,18,70,79,84,92,102,121,135,141],"primary":[14],"scientific":[15],"goals":[16],"of":[17,62,127],"mission.":[19],"RA":[21,85,122],"supports":[22],"sample":[23,49,54,66,71],"acquisition":[24],"by":[25,51,68,89],"precisely":[26],"positioning":[27,69,91],"scoop":[29],"above":[30,74],"loose":[31],"regolith":[32],"or":[33,42,78],"accurately":[34,90],"preloading":[35],"percussive":[37],"drill":[38],"on":[39],"Martian":[40],"rocks":[41],"rover-mounted":[43],"organic":[44],"check":[45],"materials.":[46],"It":[47],"assists":[48],"processing":[50,55],"orienting":[52],"unit":[56],"called":[57],"CHIMRA":[58],"through":[59],"series":[61],"gravity-relative":[63],"orientations":[64],"and":[65,101,129,140],"delivery":[67],"portion":[72],"door":[73],"an":[75],"instrument":[76],"inlet":[77],"observation":[80],"tray.":[81],"In":[82,112],"addition":[83],"facilitates":[86],"contact":[87],"science":[88,119],"dust":[93],"removal":[94],"tool,":[95],"Alpha":[96],"Particle":[97],"X-Ray":[98],"Spectrometer":[99],"(APXS)":[100],"Hand":[104],"Lens":[105],"Imager":[106],"(MAHLI)":[107],"relative":[108],"to":[109,114,144],"surface":[110],"targets.":[111],"order":[113],"fulfill":[115],"these":[116,146],"seemingly":[117],"disparate":[118],"objectives":[120],"must":[123],"satisfy":[124],"variety":[126],"accuracy":[128],"performance":[130],"requirements.":[131],"This":[132],"paper":[133],"describes":[134],"necessary":[136],"arm":[137],"requirement":[138],"specification":[139],"test":[142],"campaign":[143],"demonstrate":[145],"requirements":[147],"were":[148],"satisfied.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
