{"id":"https://openalex.org/W3159851362","doi":"https://doi.org/10.3390/robotics10020062","title":"Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments","display_name":"Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments","publication_year":2021,"publication_date":"2021-04-27","ids":{"openalex":"https://openalex.org/W3159851362","doi":"https://doi.org/10.3390/robotics10020062","mag":"3159851362"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10020062","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10020062","pdf_url":"https://www.mdpi.com/2218-6581/10/2/62/pdf?version=1620294261","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/2/62/pdf?version=1620294261","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037791572","display_name":"Stephen Monk","orcid":"https://orcid.org/0000-0003-1782-0737"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Stephen D. Monk","raw_affiliation_strings":["Engineering Department, Lancaster University, Lancaster LA1 4YW, UK"],"raw_orcid":"https://orcid.org/0000-0003-1782-0737","affiliations":[{"raw_affiliation_string":"Engineering Department, Lancaster University, Lancaster LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023166116","display_name":"Alex Grievson","orcid":null},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alex Grievson","raw_affiliation_strings":["Engineering Department, Lancaster University, Lancaster LA1 4YW, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Department, Lancaster University, Lancaster LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032099846","display_name":"Manuel Bandala","orcid":"https://orcid.org/0000-0002-4841-9260"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Manuel Bandala","raw_affiliation_strings":["Engineering Department, Lancaster University, Lancaster LA1 4YW, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Department, Lancaster University, Lancaster LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025718582","display_name":"Craig West","orcid":"https://orcid.org/0000-0002-8164-0848"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Craig West","raw_affiliation_strings":["Engineering Department, Lancaster University, Lancaster LA1 4YW, UK"],"raw_orcid":"https://orcid.org/0000-0002-8164-0848","affiliations":[{"raw_affiliation_string":"Engineering Department, Lancaster University, Lancaster LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001180960","display_name":"Allahyar Montazeri","orcid":"https://orcid.org/0000-0002-1750-6994"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Allahyar Montazeri","raw_affiliation_strings":["Engineering Department, Lancaster University, Lancaster LA1 4YW, UK"],"raw_orcid":"https://orcid.org/0000-0002-1750-6994","affiliations":[{"raw_affiliation_string":"Engineering Department, Lancaster University, Lancaster LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043355270","display_name":"C. James Taylor","orcid":"https://orcid.org/0000-0002-5247-5193"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"C. James Taylor","raw_affiliation_strings":["Engineering Department, Lancaster University, Lancaster LA1 4YW, UK"],"raw_orcid":"https://orcid.org/0000-0002-5247-5193","affiliations":[{"raw_affiliation_string":"Engineering Department, Lancaster University, Lancaster LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5037791572"],"corresponding_institution_ids":["https://openalex.org/I67415387"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.3628,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.49628731,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"10","issue":"2","first_page":"62","last_page":"62"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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":0.996999979019165,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9921000003814697,"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/bespoke","display_name":"Bespoke","score":0.7336632013320923},{"id":"https://openalex.org/keywords/workcell","display_name":"Workcell","score":0.6335559487342834},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5322757959365845},{"id":"https://openalex.org/keywords/hammer","display_name":"Hammer","score":0.5142447352409363},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5092602968215942},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.49850988388061523},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.4968321621417999},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46943238377571106},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4688723385334015},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4616239666938782},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.455973744392395},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4082809090614319},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35952794551849365},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3390398621559143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3375653326511383},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.261455774307251}],"concepts":[{"id":"https://openalex.org/C44210515","wikidata":"https://www.wikidata.org/wiki/Q16968978","display_name":"Bespoke","level":2,"score":0.7336632013320923},{"id":"https://openalex.org/C2781411174","wikidata":"https://www.wikidata.org/wiki/Q8034662","display_name":"Workcell","level":3,"score":0.6335559487342834},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5322757959365845},{"id":"https://openalex.org/C13655849","wikidata":"https://www.wikidata.org/wiki/Q25294","display_name":"Hammer","level":2,"score":0.5142447352409363},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5092602968215942},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.49850988388061523},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.4968321621417999},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46943238377571106},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4688723385334015},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4616239666938782},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.455973744392395},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4082809090614319},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35952794551849365},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3390398621559143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3375653326511383},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.261455774307251},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics10020062","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10020062","pdf_url":"https://www.mdpi.com/2218-6581/10/2/62/pdf?version=1620294261","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:04767e1f166d40f089ab6e51d9a32d07","is_oa":true,"landing_page_url":"https://doaj.org/article/04767e1f166d40f089ab6e51d9a32d07","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 2, p 62 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/2/62/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10020062","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 10; Issue 2; Pages: 62","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics10020062","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10020062","pdf_url":"https://www.mdpi.com/2218-6581/10/2/62/pdf?version=1620294261","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3159851362.pdf","grobid_xml":"https://content.openalex.org/works/W3159851362.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1486335404","https://openalex.org/W1973396413","https://openalex.org/W2007920821","https://openalex.org/W2026644052","https://openalex.org/W2039173699","https://openalex.org/W2040904925","https://openalex.org/W2062284656","https://openalex.org/W2080735275","https://openalex.org/W2091612954","https://openalex.org/W2095351558","https://openalex.org/W2110639274","https://openalex.org/W2111648342","https://openalex.org/W2120650126","https://openalex.org/W2145023731","https://openalex.org/W2159579247","https://openalex.org/W2314002502","https://openalex.org/W2507243473","https://openalex.org/W2564869584","https://openalex.org/W2588172569","https://openalex.org/W2593273893","https://openalex.org/W2617232596","https://openalex.org/W2783352307","https://openalex.org/W2790777513","https://openalex.org/W2791576206","https://openalex.org/W2894551547","https://openalex.org/W2897111455","https://openalex.org/W2900742918","https://openalex.org/W2911875243","https://openalex.org/W2948102761","https://openalex.org/W2972705287","https://openalex.org/W2989654006","https://openalex.org/W3004478643","https://openalex.org/W3024635629","https://openalex.org/W3047777904","https://openalex.org/W6676628854"],"related_works":["https://openalex.org/W2583142479","https://openalex.org/W2134619753","https://openalex.org/W2729892985","https://openalex.org/W3172392147","https://openalex.org/W1562579674","https://openalex.org/W185982749","https://openalex.org/W2181465263","https://openalex.org/W2014409160","https://openalex.org/W3093969907","https://openalex.org/W2057135420"],"abstract_inverted_index":{"We":[0],"describe":[1],"the":[2,65,82,93,109,114,124,128,131,135,171],"implementation":[3],"of":[4,24],"a":[5,71,75,101,140],"bespoke":[6,72],"two":[7],"arm":[8,116],"hydraulically":[9],"actuated":[10],"robotic":[11,117],"platform":[12],"which":[13],"is":[14,35,47,57,151],"used":[15,106],"to":[16,37,50,107,127,145,158],"semi-autonomously":[17],"cut":[18],"approximately":[19],"50":[20],"mm":[21],"diameter":[22],"pipes":[23],"three":[25],"different":[26],"materials:":[27],"cardboard,":[28],"ABS":[29],"plastic":[30],"and":[31,53,90,100,130,148,177],"aluminium.":[32],"The":[33,60],"system":[34,129],"designed":[36],"be":[38,159],"utilised":[39],"within":[40,113],"radiologically":[41],"active":[42],"environments":[43],"where":[44,170],"human":[45],"access":[46],"limited":[48],"due":[49],"dose":[51],"limits":[52],"thus":[54],"remote":[55],"operation":[56],"greatly":[58],"beneficial.":[59],"remotely":[61],"located":[62],"operator":[63,178],"selects":[64],"object":[66],"from":[67,134],"an":[68],"image":[69],"via":[70],"algorithm":[73],"featuring":[74],"COTS":[76],"3D":[77],"vision":[78],"system,":[79],"along":[80],"with":[81,87,92,139,154],"desired":[83],"positions":[84,112],"for":[85,173],"gripping":[86],"one":[88],"manipulator,":[89],"cutting":[91,137,150],"other.":[94],"A":[95,143],"pseudo-Jacobian":[96],"inverse":[97],"kinematic":[98],"technique":[99,156],"programmable":[102],"automation":[103],"controller":[104],"are":[105,180],"achieve":[108],"appropriate":[110],"joint":[111],"dual":[115],"platform.":[118],"In":[119],"this":[120,155],"article,":[121],"we":[122],"present":[123],"latest":[125],"developments":[126],"lessons":[132],"learnt":[133],"new":[136],"experiments":[138],"reciprocating":[141],"saw.":[142],"comparison":[144],"tele-operated":[146],"control":[147],"manual":[149,162],"also":[152],"made,":[153],"shown":[157],"slower":[160],"than":[161,166],"cutting,":[163],"but":[164],"faster":[165],"pure":[167],"tele-operational":[168],"control,":[169],"requirements":[172],"highly":[174],"trained":[175],"users":[176],"fatigue":[179],"further":[181],"deleterious":[182],"factors.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2021-05-10T00:00:00"}
