{"id":"https://openalex.org/W4302774955","doi":"https://doi.org/10.23919/sice56594.2022.9905758","title":"Deep Koopman with Control: Spectral Analysis of Soft Robot Dynamics","display_name":"Deep Koopman with Control: Spectral Analysis of Soft Robot Dynamics","publication_year":2022,"publication_date":"2022-09-06","ids":{"openalex":"https://openalex.org/W4302774955","doi":"https://doi.org/10.23919/sice56594.2022.9905758"},"language":"en","primary_location":{"id":"doi:10.23919/sice56594.2022.9905758","is_oa":false,"landing_page_url":"https://doi.org/10.23919/sice56594.2022.9905758","pdf_url":null,"source":{"id":"https://openalex.org/S4363608498","display_name":"2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE)","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/A5087481921","display_name":"Naoto Komeno","orcid":"https://orcid.org/0000-0003-3494-1856"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Naoto Komeno","raw_affiliation_strings":["Nara Institute of Science and Technology,Graduate School of Science and Technology,Japan","Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064634210","display_name":"Brendan Michael","orcid":"https://orcid.org/0000-0002-5631-9913"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Brendan Michael","raw_affiliation_strings":["Nara Institute of Science and Technology,Graduate School of Science and Technology,Japan","Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087402212","display_name":"Katharina Kuchler","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["DE","JP"],"is_corresponding":false,"raw_author_name":"Katharina Kuchler","raw_affiliation_strings":["Nara Institute of Science and Technology,Graduate School of Science and Technology,Japan","RWTH Aachen University, Germany","Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"RWTH Aachen University, Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080452039","display_name":"Edgar Anarossi","orcid":"https://orcid.org/0000-0002-7285-6356"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Edgar Anarossi","raw_affiliation_strings":["Nara Institute of Science and Technology,Graduate School of Science and Technology,Japan","Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamitsu Matsubara","raw_affiliation_strings":["Nara Institute of Science and Technology,Graduate School of Science and Technology,Japan","Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Graduate School of Science and Technology,Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5087481921"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":2.9074,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.91932458,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"333","last_page":"340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"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/T11206","display_name":"Model Reduction and Neural Networks","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"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/T11751","display_name":"Lattice Boltzmann Simulation Studies","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10360","display_name":"Fluid Dynamics and Turbulent Flows","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5716442465782166},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5574211478233337},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414595007896423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5201152563095093},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5073480010032654},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5050066113471985},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.500361442565918},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48097267746925354},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.4661238193511963},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.46404948830604553},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.4551624059677124},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.44629722833633423},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.277492880821228},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12445846199989319},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08239910006523132}],"concepts":[{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5716442465782166},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5574211478233337},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414595007896423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5201152563095093},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5073480010032654},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5050066113471985},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.500361442565918},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48097267746925354},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.4661238193511963},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.46404948830604553},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.4551624059677124},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.44629722833633423},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.277492880821228},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12445846199989319},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08239910006523132},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/sice56594.2022.9905758","is_oa":false,"landing_page_url":"https://doi.org/10.23919/sice56594.2022.9905758","pdf_url":null,"source":{"id":"https://openalex.org/S4363608498","display_name":"2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.rwth-aachen.de:856578","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/record/856578","pdf_url":null,"source":{"id":"https://openalex.org/S4306401362","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE) : 6-9 Sept. 2022<br/>61. Annual Conference of the Society-of-Instrument-and-Control-Engineers, SICE, Kumamoto, Japan, 2022-09-06 - 2022-09-09","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1997054581","https://openalex.org/W2011783542","https://openalex.org/W2022821885","https://openalex.org/W2054461285","https://openalex.org/W2067035505","https://openalex.org/W2072713084","https://openalex.org/W2112408600","https://openalex.org/W2113501460","https://openalex.org/W2132083787","https://openalex.org/W2164954534","https://openalex.org/W2172945660","https://openalex.org/W2506632866","https://openalex.org/W2561027863","https://openalex.org/W2613314665","https://openalex.org/W2730644873","https://openalex.org/W2777417212","https://openalex.org/W2902699554","https://openalex.org/W2945976633","https://openalex.org/W2963535512","https://openalex.org/W2963895143","https://openalex.org/W2965680175","https://openalex.org/W2981981438","https://openalex.org/W3019988632","https://openalex.org/W3035186145","https://openalex.org/W3089596396","https://openalex.org/W3098172061","https://openalex.org/W3098198982","https://openalex.org/W3101392902","https://openalex.org/W3102891205","https://openalex.org/W3110084462","https://openalex.org/W3116073702","https://openalex.org/W3118303791","https://openalex.org/W3118994804","https://openalex.org/W3129637124","https://openalex.org/W3133349997","https://openalex.org/W3208491841","https://openalex.org/W3216899544","https://openalex.org/W3217481449","https://openalex.org/W4225912419","https://openalex.org/W4238160257","https://openalex.org/W4239539940","https://openalex.org/W4299578674","https://openalex.org/W6740316558","https://openalex.org/W6743945476","https://openalex.org/W6786112135","https://openalex.org/W6790085878","https://openalex.org/W6804343026"],"related_works":["https://openalex.org/W4388311650","https://openalex.org/W5922282","https://openalex.org/W1974056099","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W62490179","https://openalex.org/W2954004777","https://openalex.org/W2951102138","https://openalex.org/W1568403290"],"abstract_inverted_index":{"Soft":[0],"robots":[1],"are":[2,123],"challenging":[3],"to":[4,33,72,96],"model":[5,121],"and":[6,13,51,68,105,119],"control":[7,36,81],"as":[8,102],"inherent":[9],"non-linearities":[10],"(e.g.,":[11,22],"elasticity":[12],"deformation),":[14],"often":[15,44],"requires":[16],"complex":[17],"explicit":[18],"physics-based":[19,99],"analytical":[20],"modelling":[21],"a":[23,39,74],"priori":[24],"geometric":[25],"definitions).":[26],"While":[27],"machine":[28],"learning":[29],"can":[30],"be":[31],"used":[32],"learn":[34],"non-linear":[35,80,116],"models":[37,43],"in":[38,108,125],"data-driven":[40],"approach,":[41],"these":[42],"lack":[45],"an":[46,62],"intuitive":[47],"internal":[48],"physical":[49],"interpretation":[50],"representation,":[52],"limiting":[53],"dynamical":[54],"analysis.":[55,130],"To":[56],"address":[57],"this,":[58],"this":[59,109,112],"paper":[60,110],"presents":[61],"approach":[63,113],"using":[64,93],"Koopman":[65,89],"operator":[66,90],"theory":[67],"deep":[69],"neural":[70],"networks":[71],"provide":[73],"global":[75],"linear":[76],"description":[77],"of":[78,128],"the":[79,88,126],"systems.":[82],"Specifically,":[83],"by":[84],"globally":[85],"linearising":[86],"dynamics,":[87],"is":[91],"analyzed":[92],"spectral":[94,129],"decomposition":[95],"characterises":[97],"important":[98],"interpretations,":[100],"such":[101],"functional":[103],"growths":[104],"oscillations.":[106],"Experiments":[107],"demonstrate":[111],"for":[114],"controlling":[115],"soft":[117],"robotics,":[118],"shows":[120],"outputs":[122],"interpretable":[124],"context":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
