{"id":"https://openalex.org/W2972254256","doi":"https://doi.org/10.1145/3351556.3351562","title":"Web-based VR Environment for Simulation and Visualization of Construction Manipulator Motion","display_name":"Web-based VR Environment for Simulation and Visualization of Construction Manipulator Motion","publication_year":2019,"publication_date":"2019-09-05","ids":{"openalex":"https://openalex.org/W2972254256","doi":"https://doi.org/10.1145/3351556.3351562","mag":"2972254256"},"language":"en","primary_location":{"id":"doi:10.1145/3351556.3351562","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3351556.3351562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 9th Balkan Conference on Informatics","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/A5037589120","display_name":"Boris Tudjarov","orcid":"https://orcid.org/0009-0005-7331-4670"},"institutions":[{"id":"https://openalex.org/I31151848","display_name":"Technical University of Sofia","ror":"https://ror.org/052prhs50","country_code":"BG","type":"education","lineage":["https://openalex.org/I31151848"]}],"countries":["BG"],"is_corresponding":false,"raw_author_name":"Boris Tudjarov","raw_affiliation_strings":["Department of Computer Systems, Technical University-Sofia, Sofia, Bulgaria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Systems, Technical University-Sofia, Sofia, Bulgaria","institution_ids":["https://openalex.org/I31151848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071053550","display_name":"Rosen Mitrev","orcid":"https://orcid.org/0000-0001-6276-1225"},"institutions":[{"id":"https://openalex.org/I31151848","display_name":"Technical University of Sofia","ror":"https://ror.org/052prhs50","country_code":"BG","type":"education","lineage":["https://openalex.org/I31151848"]}],"countries":["BG"],"is_corresponding":false,"raw_author_name":"Rosen Mitrev","raw_affiliation_strings":["Department of Logistics Engineering, Technical University-Sofia, Sofia, Bulgaria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Logistics Engineering, Technical University-Sofia, Sofia, Bulgaria","institution_ids":["https://openalex.org/I31151848"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1483,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.48213323,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9871000051498413,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9871000051498413,"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":0.9861000180244446,"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/T13312","display_name":"Mechanical and Thermal Properties Analysis","score":0.9853000044822693,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.716172456741333},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6954792141914368},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5925339460372925},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.5723217725753784},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5285497903823853},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45118528604507446},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4397163391113281},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3764953017234802},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32276567816734314},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17381224036216736},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12815704941749573}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.716172456741333},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6954792141914368},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5925339460372925},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.5723217725753784},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5285497903823853},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45118528604507446},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4397163391113281},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3764953017234802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32276567816734314},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17381224036216736},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12815704941749573},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3351556.3351562","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3351556.3351562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 9th Balkan Conference on Informatics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W171845970","https://openalex.org/W1772885692","https://openalex.org/W2107717764","https://openalex.org/W2113265921","https://openalex.org/W2123763232","https://openalex.org/W2139144698","https://openalex.org/W2139678625","https://openalex.org/W2291997148","https://openalex.org/W2333353652","https://openalex.org/W2523578463","https://openalex.org/W2525304836","https://openalex.org/W2625496571","https://openalex.org/W2753676992","https://openalex.org/W2803194201","https://openalex.org/W2889632450","https://openalex.org/W3092805305","https://openalex.org/W4299427043"],"related_works":["https://openalex.org/W2972304526","https://openalex.org/W2351331567","https://openalex.org/W2380210784","https://openalex.org/W2744818472","https://openalex.org/W2607470227","https://openalex.org/W2355512144","https://openalex.org/W2811382984","https://openalex.org/W1969999327","https://openalex.org/W2084494155","https://openalex.org/W2119963650"],"abstract_inverted_index":{"The":[0,31,42,171,186],"paper":[1],"presents":[2],"a":[3,17,23,67,130,146,157,159,183],"case":[4],"study":[5],"of":[6,10,12,16,29,34,44,85,117,125,137,145,168,173,207,210],"visualization":[7,136],"and":[8,53,113,135,193,198,205],"animation":[9],"results":[11,140],"inverse":[13,73,98],"kinematics":[14,74,99],"simulation":[15,134],"redundant":[18],"construction":[19],"manipulator,":[20],"represented":[21],"as":[22],"mechanical":[24],"system":[25],"with":[26,57,162,195],"four":[27,35],"degrees":[28],"freedom.":[30],"boom":[32,119],"consists":[33,144],"rigid":[36],"links,":[37],"interconnected":[38],"by":[39,49,82,103,182],"rotational":[40],"joints.":[41],"rotation":[43],"the":[45,58,62,72,77,83,91,94,97,108,111,114,118,123,126,138,169,174,177,202],"links":[46,59],"is":[47,80,101,141,180,190],"described":[48],"relative":[50],"joint":[51],"angles":[52],"their":[54],"values,":[55],"together":[56],"lengths,":[60],"determine":[61],"manipulator":[63],"working":[64],"range.":[65],"For":[66],"prescribed":[68],"vertical":[69],"straight-line":[70],"trajectory,":[71,96],"task":[75],"at":[76],"velocity":[78],"level":[79],"solved":[81],"use":[84,124],"weighted":[86],"pseudoinverse":[87],"matrix.":[88],"To":[89],"compensate":[90],"deviations":[92],"from":[93],"desired":[95,115],"equation":[100],"modified":[102],"adding":[104],"terms,":[105],"proportional":[106],"to":[107],"difference":[109],"between":[110],"current":[112],"position":[116],"end":[120],"point.":[121],"By":[122],"contemporary":[127],"Web":[128,160],"technologies":[129],"VR":[131,188],"environment":[132,189],"for":[133],"obtained":[139],"developed.":[142],"It":[143],"started":[147],"under":[148],"Common":[149],"Gateway":[150],"Interface":[151],"Matlab":[152],"executable":[153],"file":[154],"placed":[155],"on":[156,176],"server,":[158],"page":[161],"input":[163],"form,":[164],"an":[165],"X3D":[166],"model":[167],"manipulator.":[170],"functionality":[172],"application":[175],"user":[178],"side":[179],"provided":[181],"JavaScript":[184],"file.":[185],"produced":[187],"easy":[191],"reused":[192],"shared":[194],"other":[196],"users":[197],"thus":[199],"considerably":[200],"facilitates":[201],"design,":[203],"investigation":[204],"e-learning":[206],"such":[208],"type":[209],"system.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
