{"id":"https://openalex.org/W4413393123","doi":"https://doi.org/10.23919/acc63710.2025.11107573","title":"Thermodynamics-inspired trajectory optimization of a planar robotic arm<sup>*</sup>","display_name":"Thermodynamics-inspired trajectory optimization of a planar robotic arm<sup>*</sup>","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413393123","doi":"https://doi.org/10.23919/acc63710.2025.11107573"},"language":"en","primary_location":{"id":"doi:10.23919/acc63710.2025.11107573","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","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/A5114621450","display_name":"Meysam Fathizadeh","orcid":null},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Meysam Fathizadeh","raw_affiliation_strings":["Cleveland State University,Mechanical Engineering Department"],"affiliations":[{"raw_affiliation_string":"Cleveland State University,Mechanical Engineering Department","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051347846","display_name":"Hanz Richter","orcid":"https://orcid.org/0000-0001-6079-3186"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanz Richter","raw_affiliation_strings":["Cleveland State University,Mechanical Engineering Department"],"affiliations":[{"raw_affiliation_string":"Cleveland State University,Mechanical Engineering Department","institution_ids":["https://openalex.org/I102607778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5114621450"],"corresponding_institution_ids":["https://openalex.org/I102607778"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32251747,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3726","last_page":"3731"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9787999987602234,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9787999987602234,"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/trajectory","display_name":"Trajectory","score":0.713826060295105},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.7085220813751221},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.641270101070404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4332703948020935},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4023999273777008},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20339179039001465},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.19753730297088623}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.713826060295105},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.7085220813751221},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.641270101070404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4332703948020935},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4023999273777008},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20339179039001465},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.19753730297088623},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc63710.2025.11107573","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W82459767","https://openalex.org/W1599327170","https://openalex.org/W1973420409","https://openalex.org/W1993527305","https://openalex.org/W2001561258","https://openalex.org/W2011911028","https://openalex.org/W2019020590","https://openalex.org/W2022325405","https://openalex.org/W2041881063","https://openalex.org/W2115091574","https://openalex.org/W2130116286","https://openalex.org/W2155053955","https://openalex.org/W2171925382","https://openalex.org/W2770387729","https://openalex.org/W2948683020","https://openalex.org/W3044712125","https://openalex.org/W3097103660","https://openalex.org/W3107304399","https://openalex.org/W3158046041","https://openalex.org/W3200915726","https://openalex.org/W4282941812","https://openalex.org/W4285260531","https://openalex.org/W4379659772"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W2362018761"],"abstract_inverted_index":{"The":[0,39,84],"paper":[1],"considers":[2],"energy-oriented":[3],"trajectory":[4],"optimization":[5],"of":[6,20,28,55,73,113,121],"a":[7,59,92],"two-link":[8],"robot":[9,63],"inspired":[10],"by":[11,80],"thermodynamics,":[12],"particularly":[13],"on":[14],"the":[15,26,45,62,71,99,114,122,128,137],"second":[16],"law.":[17],"A":[18],"formulation":[19],"thermodynamic":[21],"principles":[22,33],"is":[23,125],"developed":[24],"within":[25],"framework":[27],"dynamical":[29],"systems,":[30],"extending":[31],"these":[32],"for":[34],"use":[35],"in":[36,51,140],"multi-domain":[37],"systems.":[38],"approach":[40],"involves":[41],"periodic":[42],"motions,":[43],"with":[44,91,107],"cyclic-averaged":[46],"subsystem":[47],"energies":[48],"replacing":[49],"temperature":[50],"an":[52,74],"extended":[53],"definition":[54],"entropy":[56],"generation.":[57],"In":[58],"representative":[60],"problem,":[61],"arm":[64],"moves":[65],"between":[66],"two":[67],"arbitrary":[68],"points":[69],"under":[70],"influence":[72],"external":[75],"force":[76],"and":[77,127],"performs":[78],"work":[79],"repeatedly":[81],"elevating":[82],"loads.":[83],"trajectories":[85],"to":[86,142],"be":[87],"optimized":[88],"were":[89],"parameterized":[90],"Fourier":[93],"decomposition.":[94],"Simulation":[95],"results":[96],"indicate":[97],"that":[98],"proposed":[100,129],"cost":[101,130],"function":[102,131],"effectively":[103],"minimizes":[104],"energy":[105,143],"consumption":[106],"some":[108],"advantages":[109],"over":[110],"direct":[111],"minimization":[112],"supplied":[115],"energy.":[116],"Specifically,":[117],"only":[118],"partial":[119],"knowledge":[120],"dissipation":[123],"characteristics":[124],"needed,":[126],"exhibits":[132],"improved":[133],"convexity":[134],"properties":[135],"near":[136],"optimal":[138],"point":[139],"comparison":[141],"supply.":[144]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}